Integrated online trajectory planning and optimization in distinctive topologies
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- 作者：Christoph Rö ; smann ; christoph.roesmann@tu-dortmund.deAuthor Vitae ; Frank HoffmannAuthor Vitae ; Torsten BertramAuthor Vitae
- 关键词：Online trajectory optimization ; Mobile robot motion planning ; Distinctive topologies ; Homology classes ; Timed-Elastic-Band ; Model predictive control
- 刊名：Robotics and Autonomous Systems
- 出版年：2017
- 出版时间：February 2017
- 年：2017
- 卷：88
- 期：Complete
- 页码：142-153
- 全文大小：1359 K
- 卷排序：88
文摘
An integrated online trajectory optimization approach is proposed. Maintaining and optimization of admissible candidate trajectories of distinctive topologies in order to seek the overall best solution. An exploration strategy based on Voronoi diagrams provides the complete set of alternative trajectories. An alternative proposed sampling based strategy generates a sufficient subset for small to medium sized environments under limited computational budgets. The Timed-Elastic-Band trajectory optimization method complies with non-holonomic kinematics of differential-drive and carlike robots.