D. Vonwissel et R. Nikoukhah, MANEUVER-BASED OBSTACLE-AVOIDING TRAJECTORY OPTIMIZATION - EXAMPLE OFA RIDERLESS BICYCLE, Mechanics of structures and machines, 23(2), 1995, pp. 223-255
The problem of maneuvering complex vehicles around obstacles is consid
ered. The proposed solution consists in searching the optimal path thr
ough a tree of trajectory segments. Since these segments of trajectory
, called maneuvers, are precalculated, this method can be used efficie
ntly for realtime applications. The approach is illustrated through th
e complete analysis of the example of a riderless bicycle.