Receding horizon trajectory planning with an environment-based cost-to-go function

Bernard Mettler, Olivier Toupet

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

18 Scopus citations

Abstract

This paper presents a general framework for trajectory planning in three dimensions for vehicles with broad maneuvering capabilities operating in continuously evolving environments. The approach combines an online receding horizon trajectory optimization and a cost-to-go function computed offline that approximates the performance of the vehicle in the global environment and provides the terminal cost for the receding horizon optimization. This breakdown permits a computationally tractable implementation. To enable an efficient computation of the cost-to-go function, a finite dimensional decomposition of the global environment is used. The paper describes how this decomposition is set up to compute the cost-to-go function, as well as its integration with the online receding horizon trajectory optimization. An example is used to demonstrate the system's basic capabilities. This approach combines key results from robotics motion planning and vehicle trajectory optimization.

Original languageEnglish (US)
Title of host publicationProceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
Pages4071-4076
Number of pages6
Volume2005
DOIs
StatePublished - Dec 1 2005
Event44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05 - Seville, Spain
Duration: Dec 12 2005Dec 15 2005

Other

Other44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
CountrySpain
CitySeville
Period12/12/0512/15/05

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    Mettler, B., & Toupet, O. (2005). Receding horizon trajectory planning with an environment-based cost-to-go function. In Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05 (Vol. 2005, pp. 4071-4076). [1582799] https://doi.org/10.1109/CDC.2005.1582799