Hello,
I have a car like robot system . I'm using a kinematic bicycle model for my controller. My control inputs are the acceleration and the derivative of the steering angle of the front wheels. My physical constraints are on acceleration,velocity,steering angle,etc.. In order to get a reference for my controller I want to compute the best discretized trajectory from an initial state (x0,y0) to a specified target (xf,yf) which minimizes the final time (as quick as possible).There's no obstacles. I don't need an exact solution , an approximate one is fine but the algorithm must be robust (at least always a feasible trajectory!). Which method will be the best for my problem?
Thanks
Dear Nicolas,
I suggest you to see links and attached files in topics.
-Asymptotic optimal trajectory planning under consideration of ...
ieeexplore.ieee.org/document/7559165/
- Dynamic Trajectory Planning with Dynamic Constraints: a `State-Time ...
https://pdfs.semanticscholar.org/.../3e03fc20606e4e5e6b8dc93d8d...
- Energy-Optimal Velocity Profiles for Car-Like Robots
www-users.cs.umn.edu/~isler/pub/icra11tokekar.pdf
- Computational Intelligence for Decision Support in Cyber-Physical ...
https://books.google.dz/books?isbn=981458536X
Best regards
Hi Nicolas,
In the absence of obstacles, if your car-like robot is traveling on the a smooth flat surface, then the shortest distance between the initial position and the final position is a straight line. For a non-flat surface, then you may need to apply the calculus of variations to obtain the geodesic curvilinear path.
Thank you Yew-Chung and Mohamed for your answers.
In the initial state,if the car's heading car or the steering angle of the wheels are not in the direction of your target, the optimal trajectory couldn't be the straigth line because it's not feasible.
Hi Nicolas,
Thanks for your reply.
The straight line (shortest distance) serves as a reference path. For a car-like robot, your task is to minimize the deviation from reference path by computing the maximum steerable angle according to Ackermann steering geometry. When the car's heading direction is facing the target, the steering returns to neutral position and it becomes a straight path to reach the target.
If you need to reach the target in the shortest time, then you have to compute the optimal distribution of drive and brake forces along the trajectory.
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