Receding-Horizon Trajectory Planning for Under-Actuated Autonomous Vehicles Based on Collaborative Neurodynamic Optimization
文献类型：期刊论文
| 作者 | Jiasen Wang; Jun Wang; Qing-Long Han |
| 刊名 | IEEE/CAA Journal of Automatica Sinica
 |
| 出版日期 | 2022 |
| 卷号 | 9期号:11页码:1909-1923 |
| 关键词 | Collaborative neurodynamic optimization receding-horizon planning trajectory planning under-actuated vehicles |
| ISSN号 | 2329-9266 |
| DOI | 10.1109/JAS.2022.105524 |
| 英文摘要 | This paper addresses a major issue in planning the trajectories of under-actuated autonomous vehicles based on neurodynamic optimization. A receding-horizon vehicle trajectory planning task is formulated as a sequential global optimization problem with weighted quadratic navigation functions and obstacle avoidance constraints based on given vehicle goal configurations. The feasibility of the formulated optimization problem is guaranteed under derived conditions. The optimization problem is sequentially solved via collaborative neurodynamic optimization in a neurodynamics-driven trajectory planning method/procedure. Simulation results with under-actuated unmanned wheeled vehicles and autonomous surface vehicles are elaborated to substantiate the efficacy of the neurodynamics-driven trajectory planning method. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/49923]  |
| 专题 | 自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica |
| 推荐引用方式 GB/T 7714 | Jiasen Wang,Jun Wang,Qing-Long Han. Receding-Horizon Trajectory Planning for Under-Actuated Autonomous Vehicles Based on Collaborative Neurodynamic Optimization[J]. IEEE/CAA Journal of Automatica Sinica,2022,9(11):1909-1923. |
| APA | Jiasen Wang,Jun Wang,&Qing-Long Han.(2022).Receding-Horizon Trajectory Planning for Under-Actuated Autonomous Vehicles Based on Collaborative Neurodynamic Optimization.IEEE/CAA Journal of Automatica Sinica,9(11),1909-1923. |
| MLA | Jiasen Wang,et al."Receding-Horizon Trajectory Planning for Under-Actuated Autonomous Vehicles Based on Collaborative Neurodynamic Optimization".IEEE/CAA Journal of Automatica Sinica 9.11(2022):1909-1923. |
入库方式： OAI收割
来源：自动化研究所
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