Semianalytical minimum-time solution for the optimal control of a vehicle subject to limited acceleration

DOI10.1002/OCA.2376MaRDI QIDQ3176462zbMATH OpenOpenAlexFDO

Authors Enrico Bertolazzi, Marco Frego

Publication date 20 July 2018

Published in Optimal Control Applications \& Methods (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1603.06245

zbMATH Keywords

asymptotic expansionnumerical methodsoptimal controlnonlinear dynamicclothoidRiccati ODE

Mathematics Subject Classification ID

Artificial intelligence for robotics (68T40) Nonlinear systems in control theory (93C10) Control/observation systems governed by ordinary differential equations (93C15) Automated systems (robots, etc.) in control theory (93C85) Numerical methods in optimal control (49M99)

Abstract: The basic module for the solution of the minimum time optimal control of a car-like vehicle is herein presented. The vehicle is subject to the effect of laminar (linear) and aerodynamic (quadratic) drag, taking into account the asymmetric bounded longitudinal accelerations. This module is studied and designed to be fast and robust in sight to be the fundamental building block of a more extended optimal control problem that considers a given clothoid as the trajectory and the presence of a constraint on the lateral acceleration of the vehicle. The nonlinear dynamics and the different possible boundary conditions yield different analytical solutions of the differential equations, hence they by themselves a particular attention. The study of the numeric stability of the computation for limit values of the parameters is essential as showed in the numerical tests.

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Cited in

(15)

• Minimum-time travel for a vehicle with acceleration limits: Theoretical analysis and receding-horizon implementation
• Minimum mixed time-energy trajectory planning of a nonlinear vehicle subject to 2D disturbances
• Optimal strategies for vehicle control problems with finite control sets
• On the \(G^2\) Hermite interpolation problem with clothoids
• Analysis of driving styles of a GP2 car via minimum lap-time direct trajectory optimization
• Efficient intersection between splines of clothoids
• Point data reconstruction and smoothing using cubic splines and clusterization
• Convexification of Semi-activity Constraints Applied to Minimum-time Optimal Control for Vehicles with Semi-active Limited-slip Differential
• A decomposition algorithm for Nash equilibria in intersection management
• Optimal control of steer-braking systems: non-existence of minimizing trajectories
• Semi-analytical minimum time solutions with velocity constraints for trajectory following of vehicles
• Geometric and numerical methods for a state constrained minimum time control problem of an electric vehicle
• A generalized Nash equilibrium approach for optimal control problems of autonomous cars
• Point-Clothoid Distance and Projection Computation
• Closed form parametrisation of 3D clothoids by arclength with both linear varying curvature and torsion

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