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A Convex Optimization Approach To Time-Optimum Path Planning

Author(s):

S. Colas
Conference/Journal:

Semester/Bachelor Thesis, FS 09
Abstract:

This project analyzes the problem of determining a good, in a time-minimizing sense, trajectory and speed pro le for a car traveling along a known track. Since this problem is in general nonconvex, we investigate, and improve upon, an existing heuristic approach that simpli es the problem to the point of making it convex and allowing it to be run in an on-line scenario. We furthermore discuss applying this approach in a receding horizon setup.

Year:

2009
Type of Publication:

(13)Semester/Bachelor Thesis
Supervisor:

M. Morari

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2009:IFA_3430
}
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