Motion planning for nonelinear underactuated vehicles using H techniques

G. J. Toussaint, T. Başar, F. Bullo

Research output: Contribution to journalConference articlepeer-review


This paper presents a new solution to the motion planning problem for nonlinear underactuated vehicles. The approach solves the problem by generating a polynomial curve connecting the desired initial and final positions for the vehicle and then using the curve to estimate the vehicle's complete configuration along the trajectory. The algorithm introduces an iterative H-filter to improve upon the initial estimate for the trajectory. The solution to the basic motion planning problem can be coupled with randomized path planning algorithms to solve the obstacle avoidance and multiple vehicle versions of the problem. Numerical simulations illustrate the algorithm's performance on an underactuated planar vehicle.

Original languageEnglish (US)
Pages (from-to)4097-4102
Number of pages6
JournalProceedings of the American Control Conference
StatePublished - 2001
Event2001 American Control Conference - Arlington, VA, United States
Duration: Jun 25 2001Jun 27 2001

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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