Combining on- And offline optimization techniques for efficient autonomous vehicle's trajectory planning

Bernard Mettler, Edward Bachelder

Research output: Chapter in Book/Report/Conference proceedingConference contribution

18 Scopus citations

Abstract

This paper presents a general framework for autonomous trajectory planning of vehicles with a broad range of dynamic capabilities, operating in complex 3D environments, and featuring diverse mission objectives. The approach combines online receding horizon trajectory optimization and offline dynamic programming to leverage both the computational and memory resources. The online planner accounts for the immediate environment and vehicle dynamics to compute the trajectory, and the latter captures the global environment and mission features in the form of a value function that serves as terminal cost for the online trajectory optimization. The paper presents simulation results to illustrate the framework's key capabilities and demonstrate its computational tractability.

Original languageEnglish (US)
Title of host publicationCollection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2005
PublisherAmerican Institute of Aeronautics and Astronautics Inc.
Pages499-511
Number of pages13
ISBN (Print)1563477378, 9781563477379
DOIs
StatePublished - 2005
EventAIAA Guidance, Navigation, and Control Conference 2005 - San Francisco, CA, United States
Duration: Aug 15 2005Aug 18 2005

Publication series

NameCollection of Technical Papers - AIAA Guidance, Navigation, and Control Conference
Volume1

Conference

ConferenceAIAA Guidance, Navigation, and Control Conference 2005
CountryUnited States
CitySan Francisco, CA
Period8/15/058/18/05

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    Mettler, B., & Bachelder, E. (2005). Combining on- And offline optimization techniques for efficient autonomous vehicle's trajectory planning. In Collection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2005 (pp. 499-511). (Collection of Technical Papers - AIAA Guidance, Navigation, and Control Conference; Vol. 1). American Institute of Aeronautics and Astronautics Inc.. https://doi.org/10.2514/6.2005-5861