Algorithmic and Differential-Geometric Trajectory Design

算法和微分几何轨迹设计

• 批准号: 0118146
• 负责人: Francesco Bullo
• 金额: $ 30万
• 依托单位: University of Illinois at Urbana-Champaign
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 2001
• 资助国家: 美国
• 起止时间: 2001-09-01 至 2004-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0118146&HistoricalAwards=false
• 关键词: Algorithmic; Differential; Geometric; Trajectory; Design

The project focuses on general purpose trajectory design algorithms for high dimensional, highly nonlinear systems evolving in complex environments. The goal is to solve the currently intractable problem of trajectory generation and optimization for high-fidelity models of various types of autonomous vehicles, using an approach that combines methods from differential geometry, nonlinear control theory, robot motion planning, randomized algorithms, and mathematical programming.

该项目的重点是在复杂环境中发展的高维，高度非线性系统的通用轨迹设计算法。目标是解决目前难以解决的各种类型自动驾驶车辆高保真模型的轨迹生成和优化问题，使用结合微分几何，非线性控制理论，机器人运动规划，随机算法和数学规划的方法。