Optimal acceleration-bounded trajectory planning in dynamic environments along a specified path

@article{Johnson2012OptimalAT,
  title={Optimal acceleration-bounded trajectory planning in dynamic environments along a specified path},
  author={Jeff Johnson and Kris K. Hauser},
  journal={2012 IEEE International Conference on Robotics and Automation},
  year={2012},
  pages={2035-2041}
}
Vehicles that cross lanes of traffic encounter the problem of navigating around dynamic obstacles under actuation constraints. This paper presents an optimal, exact, polynomial-time planner for optimal bounded-acceleration trajectories along a fixed, given path with dynamic obstacles. The planner constructs reachable sets in the path-velocity-time (PVT) space by propagating reachable velocity sets between obstacle tangent points in the path-time (PT) space. The terminal velocities attainable by… CONTINUE READING
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