Receding-Horizon Trajectory Planning for Under-Actuated  Autonomous Vehicles Based on Collaborative Neurodynamic Optimization

doi:10.1109/JAS.2022.105524

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	Receding-Horizon Trajectory Planning for Under-Actuated Autonomous Vehicles Based on Collaborative Neurodynamic Optimization
	Jiasen Wang; Jun Wang; Qing-Long Han
刊名	IEEE/CAA Journal of Automatica Sinica
	2022
卷号	9 期号:11 页码:1909-1923
关键词	Collaborative neurodynamic optimization receding-horizon planning trajectory planning under-actuated vehicles
ISSN号	2329-9266
DOI	10.1109/JAS.2022.105524
英文摘要	This paper addresses a major issue in planning the trajectories of under-actuated autonomous vehicles based on neurodynamic optimization. A receding-horizon vehicle trajectory planning task is formulated as a sequential global optimization problem with weighted quadratic navigation functions and obstacle avoidance constraints based on given vehicle goal configurations. The feasibility of the formulated optimization problem is guaranteed under derived conditions. The optimization problem is sequentially solved via collaborative neurodynamic optimization in a neurodynamics-driven trajectory planning method/procedure. Simulation results with under-actuated unmanned wheeled vehicles and autonomous surface vehicles are elaborated to substantiate the efficacy of the neurodynamics-driven trajectory planning method.
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/49923]
专题	自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Jiasen Wang,Jun Wang,Qing-Long Han. Receding-Horizon Trajectory Planning for Under-Actuated Autonomous Vehicles Based on Collaborative Neurodynamic Optimization[J]. IEEE/CAA Journal of Automatica Sinica,2022,9(11):1909-1923.
APA	Jiasen Wang,Jun Wang,&Qing-Long Han.(2022).Receding-Horizon Trajectory Planning for Under-Actuated Autonomous Vehicles Based on Collaborative Neurodynamic Optimization.IEEE/CAA Journal of Automatica Sinica,9(11),1909-1923.
MLA	Jiasen Wang,et al."Receding-Horizon Trajectory Planning for Under-Actuated Autonomous Vehicles Based on Collaborative Neurodynamic Optimization".IEEE/CAA Journal of Automatica Sinica 9.11(2022):1909-1923.