Trajectory Optimization of Autonomous Driving by Differential Dynamic Programming

被引：0
|
作者：
Huang, Weiwei [1 ]
Wu, Xiaojun [1 ]
Zhang, Qun [1 ]
Wu, Ning [1 ]
Song, Zhiwei [1 ]
机构：
[1] Inst Infocomm Res, Autonomous Vehicle Program, Singapore 138632, Singapore
来源：
2014 13TH INTERNATIONAL CONFERENCE ON CONTROL AUTOMATION ROBOTICS & VISION (ICARCV) | 2014年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We present a real-time optimization method for autonomous vehicle motion planning. Trajectory optimization is essential for autonomous vehicle motion planning, due to its non-holonomic motion. Conventional way of optimization is by trajectory smoothing. In this paper, we use differential dynamic programming (DDP) to optimize the trajectory. The key advantage of DDP is that it not only smoothes the trajectory but also considers the non-holonomic constrain of the vehicle. The optimized trajectory is pre-proof to be able to executed by the vehicle. Results are demonstrated with an autonomous vehicle model in Gazebo simulation environment.
引用
收藏
页码：1758 / 1763
页数：6
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