ベーシススプラインを用いた高速道路シナリオにおける時間最適軌道計画
Time-Optimal Trajectory Planning in Highway Scenarios using Basis-Spline Parameterization
ベーシススプラインの制御点とブレークポイントを最適化変数に含め、時間連続的な実行可能性を保証しつつ終端多様体へ収束させる非線形最適化手法を提案し、追い越しシナリオで評価した。
著者: Philip Dorpmüller, Thomas Schmitz, Naveen Bejagam, Torsten Bertram
分類: cs.RO
原文アブストラクト
Basis splines enable a time-continuous feasibility check with a finite number of constraints. Constraints apply to the whole trajectory for motion planning applications that require a collision-free and dynamically feasible trajectory. Existing motion planners that rely on gradient-based optimization apply time scaling to implement a shrinking planning horizon. They neither guarantee a recursively feasible trajectory nor enable reaching two terminal manifold parts at different time scales. This paper proposes a nonlinear optimization problem that addresses the drawbacks of existing approaches. Therefore, the spline breakpoints are included in the optimization variables. Transformations between spline bases are implemented so a sparse problem formulation is achieved. A strategy for breakpoint removal enables the convergence into a terminal manifold. The evaluation in an overtaking scenario shows the influence of the breakpoint number on the solution quality and the time required for optimization.
