Constrained optimal motion planning for autonomous vehicles using PRONTO

• Type: Article in International Conference Proceedings Book
• Date: 2017

Authors

Aguiar, AP (Author) FEUP; Bayer, FA (Author) Other; Hauser, J (Author) Other; Häusler, AJ (Author) Other; Notarstefano, G (Author) Other; Pascoal, AM (Author) Other; Rucco, A (Author) Other; Saccon, A (Author) Other

Conference proceedings International

Title: Lecture Notes in Control and Information Sciences

Pages: 207-226

Workshop on Sensing and Control for Autonomous Vehicles: Applications to Land, Water and Air Vehicles, 2017

20 June 2017 through 22 June 2017

Indexing

Scopus - 7 Citations

Other information

Authenticus ID: P-00N-9RF

DOI: 10.1007/978-3-319-55372-6_10

Abstract (EN): This chapter provides an overview of the authors¿ efforts in vehicle trajectory exploration and motion planning based on PRONTO, a numerical method for solving optimal control problems developed over the last two decades. The chapter reviews the basics of PRONTO, providing the appropriate references to get further details on the method. The applications of the method to the constrained optimal motion planning of single and multiple vehicles is presented. Interesting applications that have been tackled with this method include, e.g., computing minimum-time trajectories for a race car, exploiting the energy from the surrounding environment for long endurance missions of unmanned aerial vehicles (UAVs), and cooperative motion planning of autonomous underwater vehicles (AUVs) for environmental surveying. © Springer International Publishing AG 2017.

Language: English

Type (Professor's evaluation): Scientific