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 language | English |
|---|---|
| Pages (from-to) | 73-95 |
| Number of pages | 23 |
| Journal | International Journal of Vehicle Autonomous Systems |
| Volume | 7 |
| Issue number | 1-2 |
| Publication status | Published - 1 Aug 2009 |
Keywords
- Computational efficiency
- Optimal obstacle avoidance manoeuvres
- PMP
- Pontryagin maximum principle