标题： 基于最优模型的轨迹规划与静态多边形约束 显示英文标题

标题： Optimal model-based trajectory planning with static polygonal constraints

摘要： 本文的主要贡献是为受多边形约束的动力系统规划全局最优轨迹的新方法。 所提出的方法是一种混合轨迹规划方法，结合了图搜索，即离散路线图方法，与凸优化，即完整路径方法。 与过去的方法不同，过去的方法主要关注使用简单的障碍物近似或次优的空间离散化，我们的方法能够利用多边形约束的精确几何形状来规划最优轨迹。 通过为Dubins汽车模型规划距离最优轨迹，以及为海洋车辆规划时间、距离和能量最优轨迹，对所提出方法的性能和灵活性进行了仿真评估。 显示英文摘要

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