Kinodynamic optimal trajectories generation in cluttered environments using Bernstein polynomials

We develop a trajectory planning strategy for autonomous agents using Bernstein polynomials. The focus is on generating trajectories that are functionally controllable for under-actuated vehicles and that guarantee a safe path to avoid obstacles. The algorithm is suitable for local replanning and on...

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Bibliographic Details
Published in:Mechatronics (Oxford) 2023-06, Vol.92, p.102969, Article 102969
Main Authors: Strano, Bruno, Furci, Michele, Marconi, Lorenzo
Format: Article
Language:English
Subjects:
Bézier curves
High differentiable curves
Optimality
Path planning
Replanning
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Summary:We develop a trajectory planning strategy for autonomous agents using Bernstein polynomials. The focus is on generating trajectories that are functionally controllable for under-actuated vehicles and that guarantee a safe path to avoid obstacles. The algorithm is suitable for local replanning and onboard quick re-computation of the trajectory when unplanned obstacles pop up. By leveraging on the properties of Bernstein polynomials the problem is cast into a quadratic programming problem that can be solved in polynomial time.
ISSN:0957-4158
1873-4006
DOI:10.1016/j.mechatronics.2023.102969