Optimal Model-Based Trajectory Planning With Static Polygonal Constraints

The main contribution of this paper is a novel method for planning globally optimal trajectories dynamical systems subject to polygonal constraints. proposed hybrid trajectory approach, which combines graph search, i.e. discrete roadmap method, with convex optimization, complete path method. Contrary past approaches, have focused on using simple obstacle approximations, or sub-optimal spatial discretizations, our approach able use the exact geometry constraints in order plan trajectories. performance and flexibility evaluated via simulations by distance-optimal Dubins car model, as well time-, distance- energy-optimal marine vehicle.