Constrained optimal motion planning for autonomous vehicles using PRONTO

A.P. Aguiar, F.A. Bayer, J. Hauser, A.J. Häusler, G. Notarstefano, A.M. Pascoal, A. Rucco, A. Saccon

Research output: Chapter in Book/Report/Conference proceedingChapterAcademicpeer-review

7 Citations (Scopus)
7 Downloads (Pure)

Abstract

This chapter provides an overview of the authors’ efforts in vehicle trajectory exploration and motion planning based on PRONTO, a numerical method for solving optimal control problems developed over the last two decades. The chapter reviews the basics of PRONTO, providing the appropriate references to get further details on the method. The applications of the method to the constrained optimal motion planning of single and multiple vehicles is presented. Interesting applications that have been tackled with this method include, e.g., computing minimum-time trajectories for a race car, exploiting the energy from the surrounding environment for long endurance missions of unmanned aerial vehicles (UAVs), and cooperative motion planning of autonomous underwater vehicles (AUVs) for environmental surveying.

Original languageEnglish
Title of host publicationSensing and Control for Autonomous Vehicles - Applications to Land, Water and Air Vehicles
PublisherSpringer
Pages207-226
Number of pages20
ISBN (Print)978-3-31955371-9
DOIs
Publication statusPublished - 2017
EventWorkshop on Sensing and Control for Autonomous Vehicles: Applications to Land, Water and Air Vehicles, 20-22 June 2017, Alesund, Norway - Alesund, Norway
Duration: 20 Jun 201722 Jun 2017

Publication series

NameLecture Notes in Control and Information Sciences
Volume474
ISSN (Print)0170-8643

Conference

ConferenceWorkshop on Sensing and Control for Autonomous Vehicles: Applications to Land, Water and Air Vehicles, 20-22 June 2017, Alesund, Norway
CountryNorway
CityAlesund
Period20/06/1722/06/17

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  • Cite this

    Aguiar, A. P., Bayer, F. A., Hauser, J., Häusler, A. J., Notarstefano, G., Pascoal, A. M., Rucco, A., & Saccon, A. (2017). Constrained optimal motion planning for autonomous vehicles using PRONTO. In Sensing and Control for Autonomous Vehicles - Applications to Land, Water and Air Vehicles (pp. 207-226). (Lecture Notes in Control and Information Sciences; Vol. 474). Springer. https://doi.org/10.1007/978-3-319-55372-6_10