Generating locally optimal trajectories for an automatically driven car

DOI10.1007/S11081-008-9047-1MaRDI QIDQ374633zbMATH OpenOpenAlexFDO

Authors Matthias Gerdts, Simon Karrenberg, Bernhard Müller-Beßler, Gregor Stock

Publication date 24 October 2013

Published in Optimization and Engineering (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/s11081-008-9047-1

zbMATH Keywords

optimal controlmoving horizonautomatic test-drivingdirect discretization method

Mathematics Subject Classification ID

Artificial intelligence for robotics (68T40) Robot dynamics and control of rigid bodies (70E60) Control of mechanical systems (70Q05)

Recommendations

• A moving horizon technique for the simulation of automobile test‐drives
• scientific article; zbMATH DE number 2042632
• Hierarchical solution of non-convex optimal control problems with application to autonomous driving
• An efficient algorithm for finding optimal car-driving strategy
• Model-based design of trajectory planning and control for automated vehicles in dynamic environment

Cites work

• scientific article; zbMATH DE number 1656903 (Why is no real title available?)
• scientific article; zbMATH DE number 3930730 (Why is no real title available?)
• scientific article; zbMATH DE number 510356 (Why is no real title available?)
• scientific article; zbMATH DE number 1099083 (Why is no real title available?)
• scientific article; zbMATH DE number 3793774 (Why is no real title available?)
• scientific article; zbMATH DE number 932672 (Why is no real title available?)
• A Method of Centers Based on Barrier Functions for Solving Optimal Control Problems with Continuum State and Control Constraints
• A moving horizon technique for the simulation of automobile test‐drives
• Control parametrization: a unified approach to optimal control problems with general constraints
• Direct shooting method for the numerical solution of higher-index DAE optimal control problems
• Error bounds for euler approximation of a state and control constrained optimal control problem¹
• Global impulsive optimal control computation
• Multiplier Methods for Nonlinear Optimal Control
• On the convergence of a sequential quadratic programming method with an augmented lagrangian line search function
• Practical methods for optimal control using nonlinear programming
• Runge-Kutta methods in optimal control and the transformed adjoint system
• SNOPT: An SQP Algorithm for Large-Scale Constrained Optimization
• Second-Order Runge--Kutta Approximations in Control Constrained Optimal Control
• The control parameterization enhancing transform for constrained optimal control problems

Cited in

(6)

• An automated driving strategy generating method based on WGAIL-DDPG
• scientific article; zbMATH DE number 2042632 (Why is no real title available?)
• A generalized Nash equilibrium approach for optimal control problems of autonomous cars
• Hierarchical solution of non-convex optimal control problems with application to autonomous driving
• Optimization-based autonomous racing of 1:43 scale RC cars
• A moving horizon technique for the simulation of automobile test‐drives

Describes a project that uses

Uses Software

• SNOPT
• MISER3
• SODAS
• OC-ODE

This page was built for publication: Generating locally optimal trajectories for an automatically driven car

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q374633)