Maneuver-Based Obstacle-Avoiding Trajectory Optimization: Example of a Riderless Bicycle
Dirk von Wissel, Ramine Nikoukhah · Mechanics of Structures and Machines · 1995
The problem of maneuvering complex vehicles around obstacles is considered. The proposed solution consists in searching the optimal path through a tree of trajectory segments. Since these segments of trajectory, called maneuvers, are precalculated, this method can be used efficiently for realtime applications. The approach is illustrated through the complete analysis of the example of a riderless bicycle.