The DOI matches its Crossref record; 11 of the 11 references it cites were found in a registry or an index.
Dynamic motion planning of autonomous vehicles
Abstract
A method for planning the motions of autonomous vehicles moving on general terrains is presented that obtains the geometric path and vehicle speeds that minimize motion time considering vehicle dynamics, terrain topography, obstacles, and surface mobility. The terrain is represented by a smooth cubic B patch, and the geometric path consists of a B spline curve mapped to the surface. The time-optimal motions are computed by first obtaining the best obstacle-free path from all paths represented by a uniform grid. This path is further optimized using a local optimization procedure, using the optimal motion time along the path as the cost function and the control points of a B spline as the optimizing parameters. Examples are presented that demonstrate the method for a simple dynamic model of a vehicle moving on mountainous terrain.>
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Cites
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`` Direct Search'' Solution of Numerical and Statistical Problems
Hooke, R., & Jeeves, T. A. (1961) · Journal of the ACM · doi:10.1145/321062.321069 · Cited by 4,254
Combinatorial optimization: networks and matroids
Lawler, E. L. (2021) · Cited by 3,359
Time-Optimal Control of Robotic Manipulators Along Specified Paths
Bobrow, J. E., Dubowsky, S., & Gibson, J. S. (1985) · The International Journal of Robotics Research · doi:10.1177/027836498500400301 · Cited by 1,315
Mortenson, M. E. (1985) · Cited by 1,148
Motion of two rigid bodies with rolling constraint
Li, Z., & Canny, J. (1990) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.88118 · Cited by 362
Continuous-curvature paths for autonomous vehicles
Nelson, W. L. (2003) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.1989.100153 · Cited by 233
Planning Smooth Paths for Mobile Robots
Jacobs, P., & Canny, J. (1993) · Nonholonomic Motion Planning · doi:10.1007/978-1-4615-3176-0_8 · Cited by 220
Improving the efficiency of time-optimal path-following algorithms
Slotine, J.-J. E., & Yang, H. S. (1989) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.88024 · Cited by 216
Planning smooth paths for mobile robots
Jacobs, P., & Canny, J. (2003) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.1989.99959 · Cited by 105
Cited by
A Review of Motion Planning Techniques for Automated Vehicles
Gonzalez, D., Perez, J., Milanes, V., & Nashashibi, F. (2016) · IEEE Transactions on Intelligent Transportation Systems · doi:10.1109/tits.2015.2498841 · Cited by 1,670
CommonRoad: Composable benchmarks for motion planning on roads
Althoff, M., Koschi, M., & Manzinger, S. (2017) · 2017 IEEE Intelligent Vehicles Symposium (IV) · doi:10.1109/ivs.2017.7995802 · Cited by 443
Metadata
- Authors
- Shiller, Z., & Gwo, Y.-R.
- Venue
- IEEE Transactions on Robotics and Automation
- Published
- 1991-04
- Volume
- 7
- Issue
- 2
- Pages
- 241-249
- ISSN
- 1042-296X (ISSN-L)
- OpenAlex
- W2113526778
- Cited by
- 286
- References
- 11
- FWCI
- 11.50
- Type
- journal article
- Language
- en
- Open access
- closed
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- Shiller, Z., & Gwo, Y.-R. (1991). Dynamic motion planning of autonomous vehicles. IEEE Transactions on Robotics and Automation. https://doi.org/10.1109/70.75906
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
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