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Conference Paper
Polynomial Curve-Based Longitudinal Motion Planning for Safe Deceleration
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- Authors
- Byungjae Park, Woo Yong Han
- Issue Date
- 2015-10
- Citation
- International Conference on Control, Automation and Systems (ICCAS) 2015, pp.1186-1189
- Publisher
- IEEE
- Language
- English
- Type
- Conference Paper
- Abstract
- This paper proposes a longitudinal motion planning method to reduce the velocity of an unmanned ground vehicle safely when it encounters stopped vehicles or obstacles on the road. The proposed method can generate the smooth velocity and acceleration profiles using the quintic polynomial curve. The optimal quintic polynomial curve can be determined by a numerical optimization approach. The performance of the proposed method is verified by simulations.
- KSP Keywords
- Longitudinal motion, Motion planning method, Unmanned ground Vehicle, Vehicle safely, numerical optimization, optimization approach, quintic polynomial