Trajectory generation for vehicles moving with constraints on a complex terrain

  title={Trajectory generation for vehicles moving with constraints on a complex terrain},
  author={Ken-Jui Tsao and Li-Sheng Wang and Po-Ting Kuo and Fan-Ren Chang},
In this paper', the methodology of generating an optimal trajectory on a complex terrain for a specific vehicle is proposed. The possible paths are constrained by the Limitations on the terrain and the capability of the vehicle. To deal with these constraints, the notions of forbidden paint, forbidden direction, and forbidden path are introduced. After certain constants are specified, the method of dynamic programming is then invoked to find the optimal solution. If the target is beyond the… CONTINUE READING

From This Paper

Figures, tables, and topics from this paper.


Publications citing this paper.

Distance indexed trajectory generation for a helicopter robot for programming by demonstration

2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics • 2009
View 4 Excerpts
Highly Influenced


Publications referenced by this paper.
Showing 1-6 of 6 references

Path Planning for Complex Terrain Navigation Via Dynamic Programming,

B. J. Driessen
Proc. uf American Control Conference, S.D., • 1999

Connectionist Network for Dynamic Programming Problems

K. P. 61 Lam, C. W. Tong
IEE Pr&-Comput. Digit. Tech., • 1997

Dynamic Programming and Optimal Conrml

D. P. Bertsekas
Athena Scientific, • 1995

A Note on Two Problems in Connection with Graphs

E. W. Dijkstra
Numes Math . • 1991

Efficient Algorithms for Globally Optimal Trajectories

J. N. Tsitsiklis
IEEE Trans . on Aumatic Control • 1987

Similar Papers

Loading similar papers…