Path-to-trajectory conversion problem for car-like autonomous ground vehicles has been studied in various ways. However, it is challenging to generate a trajectory which is dynamically feasible for the vehicle and comfortable for the passengers. An important practical concern of low computational costs makes the problem even more difficult. In this work, a path-to-trajectory converter is developed using a novel receding-horizon sub-optimal algorithm. By transforming the dynamic constraints to a longitudinal velocity limit function in the velocity-acceleration phase plane, a time-sub-optimal trajectory satisfying the dynamic constraints and the initial boundary condition is generated by computing the maximum constant acceleration in the horizon. The portion of the trajectory approaching the end of the path is generated in reverse time. As illustrated by some simulation results, the proposed path-to-trajectory conversion algorithm is able to account for dynamic constraints of the vehicle and guarantees passenger comfort. 


Trajectory Generation From Paths for Autonomous Ground Vehicles

Division / Sponsors: 
Dynamic Systems & Control (DSCD)

Paper Proceedings: https://asmedigitalcollection.asme.org/DSCC/DSCC2020/volume/84270

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