Issues on UGV Optimal Motion Planning and Obstacle Avoidance

We present two different optimal control problem formulations that can be used to solve various trajectory planning scenarios of an Unmanned Ground Vehicle (UGV). It is less a study of trajectory planning than it is an analysis of the optimal control planning method itself. Numerous issues regarding vehicle modeling, obstacle modeling and computational complexity are discussed. The results and recommendations presented in this work are quite simple concepts, but have not been covered in the literature of trajectory planning to the knowledge of the co-authors. Simulation results illustrate successful implementation in various scenarios. I