Title:
Hierarchical motion planning with kinodynamic feasibility guarantees: Local trajectory planning via model predictive control
Hierarchical motion planning with kinodynamic feasibility guarantees: Local trajectory planning via model predictive control
| dc.contributor.author | Cowlagi, Raghvendra V. | |
| dc.contributor.author | Tsiotras, Panagiotis | |
| dc.contributor.corporatename | Georgia Institute of Technology. School of Aerospace Engineering | en_US |
| dc.contributor.corporatename | Georgia Institute of Technology. Institute for Robotics and Intelligent Machines | en_US |
| dc.date.accessioned | 2015-03-26T17:53:28Z | |
| dc.date.available | 2015-03-26T17:53:28Z | |
| dc.date.issued | 2012-05 | |
| dc.description | Copyright © 2012 IEEE | en_US |
| dc.description | Presented at 2012 IEEE International Conference on Robotics and Automation (ICRA) | |
| dc.description | DOI: dx.doi.org/10.1109/ICRA.2012.6224895 | |
| dc.description.abstract | Motion planners for autonomous vehicles often involve a two-level hierarchical structure consisting of a high-level, discrete planner and a low-level trajectory generation scheme. To ensure compatibility between these two levels of planning, we previously introduced a motion planning framework based on multiple-edge transition costs in the graph used by the discrete planner. This framework is enabled by a special local trajectory generation problem, which we address in this paper. In particular, we discuss a trajectory planner based on model predictive control for complex vehicle dynamical models. We demonstrate the efficacy of our overall motion planning approach via examples involving non-trivial vehicle models and complex environments, and we offer comparisons of our motion planner with state-of-the-art randomized sampling-based motion planners. | en_US |
| dc.embargo.terms | null | en_US |
| dc.identifier.citation | Raghvendra V. Cowlagi and Panagiotis Tsiotras. "Hierarchical motion planning with kinodynamic feasibility guarantees: Local trajectory planning via model predictive control", 2012 IEEE International Conference on Robotics and Automation (ICRA), St. Paul, MN. May 14-18, 2012, pp 4003-4008. DOI: 10.1109/ICRA.2012.6224895 | en_US |
| dc.identifier.issn | 1050-4729 | |
| dc.identifier.uri | http://hdl.handle.net/1853/53241 | |
| dc.language.iso | en_US | en_US |
| dc.publisher | Georgia Institute of Technology | en_US |
| dc.subject | Mobile robots | en_US |
| dc.subject | Path planning | en_US |
| dc.subject | Predictive control | en_US |
| dc.subject | Vehicle dynamics | en_US |
| dc.subject | Trajectory control | en_US |
| dc.title | Hierarchical motion planning with kinodynamic feasibility guarantees: Local trajectory planning via model predictive control | en_US |
| dc.type | Text | |
| dc.type.genre | Post-print | |
| dc.type.genre | Proceedings | |
| dspace.entity.type | Publication | |
| local.contributor.author | Tsiotras, Panagiotis | |
| local.contributor.corporatename | Unmanned Aerial Vehicle Research Facility | |
| relation.isAuthorOfPublication | bd4969ec-a869-452f-81f1-9f2dc8118b3c | |
| relation.isOrgUnitOfPublication | 5a379df1-c9ee-4bc9-a46e-9969e0eda2b1 |