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Path Planning by Time Optimization for Slowly Moving Unmanned Ground Vehicles

Jiwoong Yu


In recent times, numerous companies, institutes, and universities have developed Unmanned Ground Vehicle (UGV) System. For UGV system, it is necessary to plan a trajectory. In this paper describes a method of path optimization by time. To explain steering mechanism, we use a bicycle model. It is assumed that the steering mechanism of the vehicle is same as that of a bicycle. We need to calculate fast trajectories that are satisfied with the equation of motion. The problem is solved using GPOPS (General Pseudospectral Optimal Control Software). We can obtain some case of optimal trajectory. It can be used path planning and parking system.

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