Legendre Pseudospectral Path Planning Method for UGV Obstacle Avoidance
Qun Li · Command Control & Simulation · 2012
Traditional optimization methods can intricately solve path planning probelms with complex dynamics constrains.We utilize the Legendre pseudospectral method(LPM) to address the autonomous obstacle avoidance planning for unmanned ground vehicles(UGV).In order to integrate path constraints,a kinetics model of UGV and an obstacle model are constructed.Finally,we calculate the optimal path using DIDO-a MATLAB application package based on LPM.Test results indicate that the LPM has good calculating speed and accuracy.