Online trajectory optimization using receding horizon guidance control for rovers

Kyohei Shinomoto, Takehiro Higuchi, Daichi Toratani

Abstract

In recent years, the application of unmanned ground vehicle (UGV) in the event of disaster is attracting attention. The development of the autonomous UGV with real-time trajectory optimization for disaster assistance is required. To develop the autonomous UGV, receding horizon guidance control (RHGC) and waypoint generation algorithm are proposed in this paper. The RHGC is developed for guidance control with the real-time trajectory optimization. The waypoint generation algorithm is developed for collision avoidance. The simulations are held to evaluate the usability of the RHGC and the waypoint generation algorithm. It is confirmed that the RHGC and the waypoint generation algorithm are useful for the development of the autonomous UGV.

Original languageEnglish
Title of host publication2015 IEEE/SICE International Symposium on System Integration, SII 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages977-982
Number of pages6
ISBN (Print)9781467372428
DOIs
StatePublished - 2016 Feb 10
Event8th Annual IEEE/SICE International Symposium on System Integration, SII 2015 - Nagoya, Japan

Other

Other8th Annual IEEE/SICE International Symposium on System Integration, SII 2015
CountryJapan
CityNagoya
Period15/12/1115/12/13

Fingerprint

Unmanned vehicles
Ground vehicles
Trajectories
Disasters
Collision avoidance

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering

Cite this

Shinomoto, K., Higuchi, T., & Toratani, D. (2016). Online trajectory optimization using receding horizon guidance control for rovers. In 2015 IEEE/SICE International Symposium on System Integration, SII 2015. (pp. 977-982). [7405159] Institute of Electrical and Electronics Engineers Inc.. DOI: 10.1109/SII.2015.7405159

Online trajectory optimization using receding horizon guidance control for rovers. / Shinomoto, Kyohei; Higuchi, Takehiro; Toratani, Daichi.

2015 IEEE/SICE International Symposium on System Integration, SII 2015. Institute of Electrical and Electronics Engineers Inc., 2016. p. 977-982 7405159.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Shinomoto, K, Higuchi, T & Toratani, D 2016, Online trajectory optimization using receding horizon guidance control for rovers. in 2015 IEEE/SICE International Symposium on System Integration, SII 2015., 7405159, Institute of Electrical and Electronics Engineers Inc., pp. 977-982, 8th Annual IEEE/SICE International Symposium on System Integration, SII 2015, Nagoya, Japan, 11-13 December. DOI: 10.1109/SII.2015.7405159
Shinomoto K, Higuchi T, Toratani D. Online trajectory optimization using receding horizon guidance control for rovers. In 2015 IEEE/SICE International Symposium on System Integration, SII 2015. Institute of Electrical and Electronics Engineers Inc.2016. p. 977-982. 7405159. Available from, DOI: 10.1109/SII.2015.7405159

Shinomoto, Kyohei; Higuchi, Takehiro; Toratani, Daichi / Online trajectory optimization using receding horizon guidance control for rovers.

2015 IEEE/SICE International Symposium on System Integration, SII 2015. Institute of Electrical and Electronics Engineers Inc., 2016. p. 977-982 7405159.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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