A new method for computing optimal obstacle avoidance steering manoeuvres of vehicles

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Abstract

In this paper, a new method for the computation of optimal obstacle avoidance steering manoeuvres, within the consideration of the vehicle dynamics, is presented and discussed. The method is based on a reformulation of Pontryagin's Maximum Principle (PMP), in which the manoeuvre time is prescribed and the bang-bang control amplitude is minimised. The resulting control is computationally extremely efficient and has very interesting performance features. Numerical examples and benchmark tests illustrate the performance of the proposed methodology. A sensitivity analysis for different vehicle parameters is performed and finally conclusions and future directions are drawn.
Original languageEnglish
Pages (from-to)73-95
Number of pages23
JournalInternational Journal of Vehicle Autonomous Systems
Volume7
Issue number1-2
Publication statusPublished - 1 Aug 2009

Keywords

  • Computational efficiency
  • Optimal obstacle avoidance manoeuvres
  • PMP
  • Pontryagin maximum principle

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