Algorithmic and Differential-Geometric Trajectory Design

University Of Illinois At Urbana-Champaign, Urbana IL

Investigators

Abstract

The project focuses on general purpose trajectory design algorithms for high dimensional, highly nonlinear systems evolving in complex environments. The goal is to solve the currently intractable problem of trajectory generation and optimization for high-fidelity models of various types of autonomous vehicles, using an approach that combines methods from differential geometry, nonlinear control theory, robot motion planning, randomized algorithms, and mathematical programming.