An Optimization-Based Planner with B-spline Parameterized Continuous-Time Reference Signals
<|reference_start|>An Optimization-Based Planner with B-spline Parameterized Continuous-Time Reference Signals: For the cascaded planning and control modules implemented for robot navigation, the frequency gap between the planner and controller has received limited attention. In this study, we introduce a novel B-spline parameterized optimization-based planner (BSPOP) designed to address the frequency gap challenge with limited onboard computational power in robots. The proposed planner generates continuous-time control inputs for low-level controllers running at arbitrary frequencies to track. Furthermore, when considering the convex control action sets, BSPOP uses the convex hull property to automatically constrain the continuous-time control inputs within the convex set. Consequently, compared with the discrete-time optimization-based planners, BSPOP reduces the number of decision variables and inequality constraints, which improves computational efficiency as a byproduct. Simulation results demonstrate that our approach can achieve a comparable planning performance to the high-frequency baseline optimization-based planners while demanding less computational power. Both simulation and experiment results show that the proposed method performs better in planning compared with baseline planners in the same frequency.<|reference_end|>
@article{tao2024an,
    title={An Optimization-Based Planner with B-spline Parameterized
  Continuous-Time Reference Signals},
    author={Chuyuan Tao, Sheng Cheng, Yang Zhao, Fanxin Wang and Naira Hovakimyan},
    journal={arXiv preprint arXiv:2404.00133},
    year={2024},
    archivePrefix={arXiv},
    eprint={2404.00133},
    primaryClass={cs.RO}
}