TY - CHAP
T1 - Constrained optimal motion planning for autonomous vehicles using PRONTO
AU - Aguiar, A.P.
AU - Bayer, F.A.
AU - Hauser, J.
AU - Häusler, A.J.
AU - Notarstefano, G.
AU - Pascoal, A.M.
AU - Rucco, A.
AU - Saccon, A.
PY - 2017
Y1 - 2017
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85020427756&partnerID=8YFLogxK
U2 - 10.1007/978-3-319-55372-6_10
DO - 10.1007/978-3-319-55372-6_10
M3 - Chapter
AN - SCOPUS:85020427756
SN - 978-3-31955371-9
T3 - Lecture Notes in Control and Information Sciences
SP - 207
EP - 226
BT - Sensing and Control for Autonomous Vehicles - Applications to Land, Water and Air Vehicles
PB - Springer
T2 - Workshop on Sensing and Control for Autonomous Vehicles: Applications to Land, Water and Air Vehicles, 2017
Y2 - 20 June 2017 through 22 June 2017
ER -