Local Path Planning Using Optimal Control Techniques

Abstract

The ability of an autonomous vehicle control system to plan a safe, collision-free local path from one vehicle position to another is one of the most important functions. In this thesis, it is shown how a safe obstacle-free local path can be planned using optimal control theory and optimization techniques. The problem is posed as a two point boundary value problem with various problem constraints which control the vehicle behavior in transversing from one point to another. The objective function being minimized is a control performance index which includes vehicle energy saving parameters. Numerous fixed and moving obstacles in the dive plane are introduced and successfully avoided using this technique. Three-dimensional path planning is also successfully demonstrated on a 12 state linear model of an underwater vehicle. This technique is shown to be feasible method for a local path planning applications.

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Document Details

Document Type
Technical Report
Publication Date
Jun 01, 1988
Accession Number
ADA200824

Entities

People

  • Winston Smith

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Air Platforms
  • Ground and Sea Platforms
  • Weapons Technologies

DTIC Thesaurus Topics

  • Algorithms
  • Autonomous Underwater Vehicles
  • Collision Avoidance
  • Computer Programming
  • Computer Programs
  • Computer Science
  • Computers
  • Engineering
  • Equations
  • Field Tests
  • Nonlinear Dynamics
  • Optimization
  • Simulations
  • Three Dimensional
  • Trajectories
  • Two Dimensional
  • United States

Readers

  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.
  • Robotics and Automation.

Technology Areas

  • Autonomy