On trajectory generation with obstacle avoidance for a two wheeled rover based on the continuation method

摘要

In this paper, we propose a method to generate a trajectory avoiding prescribed obstacles for a two-wheeled rover based on the optimal control theory. In the proposed method, the obstacles are characterized by penalty functions, and minimizing a cost function consisting of them results in obstacle avoidance. The generated paths avoid the prescribed obstacles and satisfy given initial and terminal conditions, so the rover is able to run autonomously in the field with obstacles. The numerical calculation of the proposed method is based on the continuation method to ensure convergence of the algorithm. In addition, this method takes into account the size of a rover, so the actual machine is able to track generated paths without colliding with the obstacles. Effectiveness of the proposed method is demonstrated by a numerical simulation.