Optimal control theory can be used to generate aggressive maneuvers for vehicles under a variety of conditions using minimal assumptions. Although optimal control provides a very powerful framework for generating aggressive maneuvers utilizing fully nonlinear vehicle and tire models, its use in practice is hindered by the lack of guarantees of convergence, and by the typically long time to generate a solution, which makes this approach unsuitable for real-time implementation unless the problem obeys certain convexity and/or linearity properties. In this paper, we investigate the use of statistical interpolation (e.g., kriging) in order to synthesize on-the-fly near-optimal feedback control laws from pre-computed optimal solutions. We apply this methodology to the challenging scenario of generating a minimum time yaw rotation maneuver of a speeding vehicle in order to change its posture prior to a collision with another vehicle, in an effort to remedy the effects of a head on collision. It is shown that this approach offers a potentially appealing option for real-time, near-optimal, robust trajectory generation.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen


    Exportieren, teilen und zitieren



    Titel :

    Real-Time Near-Optimal Feedback Control of Aggressive Vehicle Maneuvers


    Beteiligte:
    P. Tsiotras (Autor:in) / R. Sanz-Diaz (Autor:in)

    Erscheinungsdatum :

    2014


    Format / Umfang :

    23 pages


    Medientyp :

    Report


    Format :

    Keine Angabe


    Sprache :

    Englisch




    Real-Time Near-Optimal Feedback Control of Aggressive Vehicle Maneuvers

    Tsiotras, Panagiotis / Diaz, Ricardo Sanz | Tema Archiv | 2014


    Near Real-Time Closed-Loop Optimal Control Feedback for Spacecraft Attitude Maneuvers

    McFarland, C. / Swenson, E. / Black, J. et al. | British Library Conference Proceedings | 2009


    Near Real-Time Closed-Loop Optimal Control Feedback for Spacecraft Attitude Maneuvers

    McFarland, Chester / Swenson, Eric / Black, Jonathan et al. | AIAA | 2009