Energy-Efficient Trajectory Planning for a Mobile Agent by Using a Two-Stage Decomposition Approach

This paper presents a new approach for the energy-efficient trajectory planning of a mobile agent with obstacle avoidance. The motion of the mobile agent is subject to position constraints characterizing an obstacle (keep-out region) as well as velocity, acceleration, and control constraints. The original optimal control problem is transformed into a mathematical programming problem where the obstacle is described by a set of linear constraints and switching times, which specify the sequence of active constraints corresponding to the obstacle. A two-stages decomposition method is proposed to solve the optimal control inputs and switch times and is verified through simulations. The proposed approach can be applied to solve general obstacle avoidance trajectory planning problems. World Congress of the International Federation of Automatic Control (IFAC) This work may not be copied or reproduced in whole or in part for any commercial purpose. Permission to copy in whole or in part without payment of fee is granted for nonprofit educational and research purposes provided that all such whole or partial copies include the following: a notice that such copying is by permission of Mitsubishi Electric Research Laboratories, Inc.; an acknowledgment of the authors and individual contributions to the work; and all applicable portions of the copyright notice. Copying, reproduction, or republishing for any other purpose shall require a license with payment of fee to Mitsubishi Electric Research Laboratories, Inc. All rights reserved. Copyright c ©Mitsubishi Electric Research Laboratories, Inc., 2014 201 Broadway, Cambridge, Massachusetts 02139