Date of Award
1-1-2017
Document Type
Masters Thesis
Degree Name
M.S.
Organizational Unit
Daniel Felix Ritchie School of Engineering and Computer Science, Electrical and Computer Engineering
First Advisor
Kyoung-Dae Kim, Ph.D.
Second Advisor
Margareta Stefanovic
Third Advisor
Vijaya Narapareddy
Keywords
Autonomous vehicles, Constrained optimization, Non-linear optimization, Optimal control, Optimal path generation, Trajectory generation
Abstract
This thesis presents a method for generating an optimized path through a given track. The path is generated by choosing waypoints throughout the track then iteratively optimizing the position of these waypoints. The waypoints are then connected by optimized paths represented by curvature polynomials. The end result is a path through the track represented as a spline of curvature polynomials. This method is applied to multiple simulated tracks and the results are presented. By generating and representing the paths in the continuous domain, the method has improved computational efficiency from many of the discrete methods used to generate an optimal path through a track. Also, when using a path to guide an autonomous vehicle, paths represented in the continuous domain can allow for better tracking and control than discrete counterparts. As autonomous systems become more integral to our society, increased computational efficiency, tracking, and control are important areas of improvement.
Publication Statement
Copyright is held by the author. User is responsible for all copyright compliance.
Rights Holder
Tyler Friedl
Provenance
Received from ProQuest
File Format
application/pdf
Language
en
File Size
116 p.
Recommended Citation
Friedl, Tyler, "Optimized Trajectory Generation for Car-Like Robots on a Closed Loop Track" (2017). Electronic Theses and Dissertations. 1370.
https://digitalcommons.du.edu/etd/1370
Copyright date
2017
Discipline
Electrical engineering, Robotics