Time-Optimal Trajectory Planning in Highway Scenarios Using Basis-Spline Parameterization
- Resource Type
- Conference
- Authors
- Dorpmuller, Philip; Schmitz, Thomas; Bejagam, Naveen; Bertram, Torsten
- Source
- 2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC) Intelligent Transportation Systems (ITSC), 2023 IEEE 26th International Conference on. :596-601 Sep, 2023
- Subject
- Communication, Networking and Broadcast Technologies
Components, Circuits, Devices and Systems
Computing and Processing
Engineering Profession
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Transportation
Manifolds
Road transportation
Trajectory planning
Trajectory
Planning
Splines (mathematics)
Optimization
- Language
- ISSN
- 2153-0017
Basis splines enable a time-continuous feasibility check with a finite number of constraints. Constraints apply to the whole trajectory for motion planning applications that require a collision-free and dynamically feasible trajectory. Existing motion planners that rely on gradient-based optimization apply time scaling to implement a shrinking planning horizon. They neither guarantee a recursively feasible trajectory nor enable reaching two terminal manifold parts at different time scales. This paper proposes a nonlinear optimization problem that addresses the drawbacks of existing approaches. Therefore, the spline breakpoints are included in the optimization variables. Transformations between spline bases are implemented so a sparse problem formulation is achieved. A strategy for breakpoint removal enables the convergence into a terminal manifold. The evaluation in an overtaking scenario shows the influence of the breakpoint number on the solution quality and the time required for optimization.