Nonlinear trajectory generation for autonomous vehicles via parameterized maneuver classes

Chris Dever, Bernard Mettler, Eric Feron, Jovan Popović, Marc McConley

Research output: Contribution to journalArticlepeer-review

44 Scopus citations

Abstract

A technique is presented for creating continuously parameterized classes of feasible system trajectories. These classes, which are useful for higher-level vehicle motion planners, follow directly from a small collection of user-provided example motions. A dynamically feasible trajectory interpolation algorithm generates a continuous family of vehicle maneuvers across a range of boundary conditions while enforcing nonlinear system equations of motion as well as nonlinear equality and inequality constraints. The scheme is particularly useful for describing motions that deviate widely from the range of linearized dynamics and where satisfactory example motions may be found from off-line nonlinear programming solutions or motion capture of human-piloted flight. The interpolation algorithm is computationally efficient, making it a viable method for real-time maneuver synthesis, particularly when used in concert with a vehicle motion planner. Experimental application to a three-degree-of-freedom rotorcraft test bed demonstrates the essential features of system and trajectory modeling, maneuver example selection, maneuver class synthesis, and integration into a hybrid system path planner. Copyright © 2005 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.
Original languageEnglish (US)
Pages (from-to)289-302
Number of pages14
JournalJournal of Guidance, Control, and Dynamics
Volume29
Issue number2
DOIs
StatePublished - Jan 1 2006
Externally publishedYes

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