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High-Confidence Trajectory Planning for Off-Road Automated Vehicles under Energy Constraints | IEEE Conference Publication | IEEE Xplore

High-Confidence Trajectory Planning for Off-Road Automated Vehicles under Energy Constraints


Abstract:

For automated vehicles operating in off-road environments, there is substantial uncertainty in their energy needs and utilization. To account for this uncertainty, we pro...Show More

Abstract:

For automated vehicles operating in off-road environments, there is substantial uncertainty in their energy needs and utilization. To account for this uncertainty, we propose a high-confidence global planner that obtains the path with the highest-confidence energy constraints are met. We outline a sampling-based method to approximate the energy stage cost uncertainty as a normal random variable, and then transform the uncertain optimal control problem to a deterministic one that can be solved using standard methods. We couple this with a local nominal model predictive controller that employs a dynamics model of the off-road vehicle on deformable terrains. We show through Monte-Carlo simulations that the framework is robust in the face of uncertainty in terms of energy consumption and outperforms approaches that simply plan for the minimum expected energy consumption.
Date of Conference: 31 May 2023 - 02 June 2023
Date Added to IEEE Xplore: 03 July 2023
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Conference Location: San Diego, CA, USA

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