A new method for computing optimal obstacle avoidance steering manoeuvres of vehicles
by Stratis A. Kanarachos
International Journal of Vehicle Autonomous Systems (IJVAS), Vol. 7, No. 1/2, 2009

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.

Online publication date: Mon, 24-Aug-2009

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