Optimal acceleration-bounded trajectory planning in dynamic environments along a specified path

Published

Conference Paper

Vehicles that cross lanes of traffic encounter the problem of navigating around dynamic obstacles under actuation constraints. This paper presents an optimal, exact, polynomial-time planner for optimal bounded-acceleration trajectories along a fixed, given path with dynamic obstacles. The planner constructs reachable sets in the path-velocity-time (PVT) space by propagating reachable velocity sets between obstacle tangent points in the path-time (PT) space. The terminal velocities attainable by endpoint-constrained trajectories in the same homotopic class are proven to span a convex interval, so the planner merges contributions from individual homotopic classes to find the exact range of reachable velocities and times at the goal. A reachability analysis proves that running time is polynomial given reasonable assumptions, and empirical tests demonstrate that it scales well in practice and can handle hundreds of dynamic obstacles in a fraction of a second on a standard PC. © 2012 IEEE.

Full Text

Duke Authors

Cited Authors

  • Johnson, J; Hauser, K

Published Date

  • January 1, 2012

Published In

Start / End Page

  • 2035 - 2041

International Standard Serial Number (ISSN)

  • 1050-4729

International Standard Book Number 13 (ISBN-13)

  • 9781467314039

Digital Object Identifier (DOI)

  • 10.1109/ICRA.2012.6225233

Citation Source

  • Scopus