MANEUVER-BASED OBSTACLE-AVOIDING TRAJECTORY OPTIMIZATION - EXAMPLE OFA RIDERLESS BICYCLE

Authors
VONWISSEL D NIKOUKHAH R
Citation
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
Citations number
18
Categorie Soggetti
Mechanics
Journal title
Mechanics of structures and machines → ACNP
ISSN journal
08905452
Volume
23
Issue
2
Year of publication
1995
Pages
223 - 255
Database
ISI
SICI code
0890-5452(1995)23:2<223:MOTO-E>2.0.ZU;2-J
Abstract
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.