Curvature-optimal path planning and servoing for autonomous vehicles: A neural net implementation

✍ Scribed by K.T. Rintanen

• Publisher: Elsevier Science
• Year: 1994
• Tongue: English
• Weight: 686 KB
• Volume: 7
• Category: Article
• ISSN: 0952-1976
• DOI: 10.1016/0952-1976(94)90020-5

✦ Synopsis

This paper shows how to implement curvature-optimal solutions of path-planning and trajectoryservoing problems for autonomous vehicles by using neural nets. The neural net is used to implement the nonlinear optimal state-feedback laws. The trained net can be used in real-time control. The net is trained by simulated data generated at random. No two-point boundary-value problems need to be solved. The method presented can, in general, be applied to a wide range of time-invariant terminal control or servo control problems.