Real-Time Motion Planning for Agile Autonomous Vehicles

Emilio Frazzoli, Munther A. Dahleh, Eric Feron
2002 Journal of Guidance Control and Dynamics  
The operation of an autonomous vehicle in an unknown, dynamic environment i s a v ery complex problem, especially when the vehicle is required to use its full maneuvering capabilities, and to react in real time to changes in the operational environment. A new class of algorithms, based on the construction of probabilistic roadmaps, has been recently introduced, and proven to provide a very fast and e cient s c heme for motion planning for robots with many degrees of freedom, while maintaining
more » ... mpleteness guarantees in a probabilistic sense. In this paper we will present an extension of the probabilistic roadmap approach, which is able to deal e ectively with the system dynamics, in an environment c haracterized by m o ving obstacles. This is accomplished through a L y apunov function based approach to the construction of the roadmap. The proposed algorithm can be directly applied to a very general class of dynamical systems, including traditional state space systems, as well as hybrid systems systems including both discrete and continuous dynamics. Simulation examples, involving a small autonomous helicopter, will be presented and discussed.
doi:10.2514/2.4856 fatcat:nla6fygydrar3e5cx3ot45dzee