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
发表期刊	IEEE/CAA Journal of Automatica Sinica
ISSN	2329-9266
	2022
卷号	9 期号:11 页码:1909-1923
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.
关键词	Collaborative neurodynamic optimization receding-horizon planning trajectory planning under-actuated vehicles
DOI	10.1109/JAS.2022.105524
引用统计	被引频次：5[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/49923
专题	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.

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