Planning of Optimal Collision Avoidance Trajectories with Timed Elastic Bands. Keller, M., Hoffmann, F., Hass, C., Bertram, T., & Seewald, A. IFAC Proceedings Volumes, 47(3):9822–9827, January, 2014. ![Planning of Optimal Collision Avoidance Trajectories with Timed Elastic Bands [link]](https://bibbase.org/img/filetypes/link.svg "link")
Paper doi abstract bibtex This paper is concerned with the planning of optimal trajectories for vehicle collision avoidance with a Timed Elastic Band (TEB) framework. The avoidance trajectory is represented by a TEB which is optimized with respect to multiple partially conflicting objectives. The resulting trajectory constitutes the optimal compromise between a mere braking and a lane change maneuver that avoids the collision with the smoothest feasible path. The approach is applicable to general critical traffic situations as the TEB considers the constraints imposed by the vehicle dynamics, road boundaries, static obstacles and moving vehicles.
@article{keller_planning_2014,
series = {19th {IFAC} {World} {Congress}},
title = {Planning of {Optimal} {Collision} {Avoidance} {Trajectories} with {Timed} {Elastic} {Bands}},
volume = {47},
issn = {1474-6670},
url = {http://www.sciencedirect.com/science/article/pii/S1474667016431691},
doi = {10.3182/20140824-6-ZA-1003.01143},
abstract = {This paper is concerned with the planning of optimal trajectories for vehicle collision avoidance with a Timed Elastic Band (TEB) framework. The avoidance trajectory is represented by a TEB which is optimized with respect to multiple partially conflicting objectives. The resulting trajectory constitutes the optimal compromise between a mere braking and a lane change maneuver that avoids the collision with the smoothest feasible path. The approach is applicable to general critical traffic situations as the TEB considers the constraints imposed by the vehicle dynamics, road boundaries, static obstacles and moving vehicles.},
language = {en},
number = {3},
urldate = {2019-10-23},
journal = {IFAC Proceedings Volumes},
author = {Keller, Martin and Hoffmann, Frank and Hass, Carsten and Bertram, Torsten and Seewald, Alois},
month = jan,
year = {2014},
keywords = {Least squares, Optimization, Path planning, Trajectory planning, Vehicles},
pages = {9822--9827}
}
Downloads: 0
{"_id":"oXgYY7ZJ2HTgqALwb","bibbaseid":"keller-hoffmann-hass-bertram-seewald-planningofoptimalcollisionavoidancetrajectorieswithtimedelasticbands-2014","authorIDs":[],"author_short":["Keller, M.","Hoffmann, F.","Hass, C.","Bertram, T.","Seewald, A."],"bibdata":{"bibtype":"article","type":"article","series":"19th IFAC World Congress","title":"Planning of Optimal Collision Avoidance Trajectories with Timed Elastic Bands","volume":"47","issn":"1474-6670","url":"http://www.sciencedirect.com/science/article/pii/S1474667016431691","doi":"10.3182/20140824-6-ZA-1003.01143","abstract":"This paper is concerned with the planning of optimal trajectories for vehicle collision avoidance with a Timed Elastic Band (TEB) framework. The avoidance trajectory is represented by a TEB which is optimized with respect to multiple partially conflicting objectives. The resulting trajectory constitutes the optimal compromise between a mere braking and a lane change maneuver that avoids the collision with the smoothest feasible path. The approach is applicable to general critical traffic situations as the TEB considers the constraints imposed by the vehicle dynamics, road boundaries, static obstacles and moving vehicles.","language":"en","number":"3","urldate":"2019-10-23","journal":"IFAC Proceedings Volumes","author":[{"propositions":[],"lastnames":["Keller"],"firstnames":["Martin"],"suffixes":[]},{"propositions":[],"lastnames":["Hoffmann"],"firstnames":["Frank"],"suffixes":[]},{"propositions":[],"lastnames":["Hass"],"firstnames":["Carsten"],"suffixes":[]},{"propositions":[],"lastnames":["Bertram"],"firstnames":["Torsten"],"suffixes":[]},{"propositions":[],"lastnames":["Seewald"],"firstnames":["Alois"],"suffixes":[]}],"month":"January","year":"2014","keywords":"Least squares, Optimization, Path planning, Trajectory planning, Vehicles","pages":"9822–9827","bibtex":"@article{keller_planning_2014,\n\tseries = {19th {IFAC} {World} {Congress}},\n\ttitle = {Planning of {Optimal} {Collision} {Avoidance} {Trajectories} with {Timed} {Elastic} {Bands}},\n\tvolume = {47},\n\tissn = {1474-6670},\n\turl = {http://www.sciencedirect.com/science/article/pii/S1474667016431691},\n\tdoi = {10.3182/20140824-6-ZA-1003.01143},\n\tabstract = {This paper is concerned with the planning of optimal trajectories for vehicle collision avoidance with a Timed Elastic Band (TEB) framework. The avoidance trajectory is represented by a TEB which is optimized with respect to multiple partially conflicting objectives. The resulting trajectory constitutes the optimal compromise between a mere braking and a lane change maneuver that avoids the collision with the smoothest feasible path. The approach is applicable to general critical traffic situations as the TEB considers the constraints imposed by the vehicle dynamics, road boundaries, static obstacles and moving vehicles.},\n\tlanguage = {en},\n\tnumber = {3},\n\turldate = {2019-10-23},\n\tjournal = {IFAC Proceedings Volumes},\n\tauthor = {Keller, Martin and Hoffmann, Frank and Hass, Carsten and Bertram, Torsten and Seewald, Alois},\n\tmonth = jan,\n\tyear = {2014},\n\tkeywords = {Least squares, Optimization, Path planning, Trajectory planning, Vehicles},\n\tpages = {9822--9827}\n}\n\n","author_short":["Keller, M.","Hoffmann, F.","Hass, C.","Bertram, T.","Seewald, A."],"key":"keller_planning_2014","id":"keller_planning_2014","bibbaseid":"keller-hoffmann-hass-bertram-seewald-planningofoptimalcollisionavoidancetrajectorieswithtimedelasticbands-2014","role":"author","urls":{"Paper":"http://www.sciencedirect.com/science/article/pii/S1474667016431691"},"keyword":["Least squares","Optimization","Path planning","Trajectory planning","Vehicles"],"downloads":0},"bibtype":"article","biburl":"https://bibbase.org/zotero/tillhofmann","creationDate":"2019-12-09T14:42:18.079Z","downloads":0,"keywords":["least squares","optimization","path planning","trajectory planning","vehicles"],"search_terms":["planning","optimal","collision","avoidance","trajectories","timed","elastic","bands","keller","hoffmann","hass","bertram","seewald"],"title":"Planning of Optimal Collision Avoidance Trajectories with Timed Elastic Bands","year":2014,"dataSources":["9pYjFWPBodPyDyb7N"]}