Optimum Vehicle Trajectory Control for Obstacle Avoidance Problem
| Autor: | S. Hosoe, E. Ono, Y. Hattori |
|---|---|
| Rok vydání: | 2006 |
| Předmět: |
Engineering
business.industry Optimal control Computer Science Applications Moment (mathematics) Vehicle dynamics Control and Systems Engineering Control theory Obstacle avoidance Second-order cone programming Quadratic programming Electrical and Electronic Engineering business Collision avoidance Sequential quadratic programming |
| Zdroj: | IEEE/ASME Transactions on Mechatronics. 11:507-512 |
| ISSN: | 1083-4435 |
| DOI: | 10.1109/tmech.2006.882981 |
| Popis: | This paper discusses an obstacle avoidance problem. A new control algorithm for obstacle avoidance within the shortest possible distance is proposed. The algorithm is composed of two steps. In the first step, optimal trajectory and a corresponding force and moment are determined based on a second-order cone programming. In the second step, the computed force and moment are realized through the controlling brake and steering systems while using a sequential quadratic programming with pseudo-inverse matrix for the derivation |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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