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

doi:10.1109/JAS.2022.105524

CASIA OpenIR > 学术期刊 > IEEE/CAA Journal of Automatica Sinica

	Receding-Horizon Trajectory Planning for Under-Actuated Autonomous Vehicles Based on Collaborative Neurodynamic Optimization
	Jiasen Wang; Jun Wang; Qing-Long Han
Source Publication	IEEE/CAA Journal of Automatica Sinica
ISSN	2329-9266
	2022
Volume	9 Issue:11 Pages:1909-1923
Abstract	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.
Keyword	Collaborative neurodynamic optimization receding-horizon planning trajectory planning under-actuated vehicles
DOI	10.1109/JAS.2022.105524
Citation statistics	Cited Times:1[WOS] [WOS Record] [Related Records in WOS]
Document Type	期刊论文
Identifier	http://ir.ia.ac.cn/handle/173211/49923
Collection	学术期刊_IEEE/CAA Journal of Automatica Sinica
Recommended Citation 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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