Resumen
Due to the limitation of space rover onboard computing resources and energy, there is an urgent need for high-quality drive trajectories in complex environments, which can be provided by delicately designed motion optimization methods. The nonconvexity of the collision avoidance constraints poses a significant challenge to the optimization-based motion planning of nonholonomic vehicles, especially in unstructured cluttered environments. In this paper, a novel obstacle decomposition approach, which swiftly decomposes nonconvex obstacles into their constituent convex substructures while concurrently minimizing the proliferation of resultant subobstacles, is proposed. A safe convex corridor construction method is introduced to formulate the collision avoidance constraints. The numerical approximation methods are applied to transfer the resulting continuous motion optimization problem to a nonlinear programming problem (NLP). Simulation experiments are conducted to illustrate the feasibility and superiority of the proposed methods over the rectangle safe corridor method and the area method.