Methods of geometric control theory are used to derive an open-loop control law for parking a vehicle. This law is obtained by setting up a suitable cost functional and then using a version of Pontryagin's Principle which is tailor-made for control problems on Lie groups. The solution can be expressed analytically in terms of Jacobian elliptic functions. The ideas used are suitable to more general motion planning problems. There are several ways in which the work described above can be continued. First, the greatly simplified vehicle model can be replaced by a model which represents the kinematics and dynamics of a real car. (This is desirable from the point of view of car manufacturers developing control systems for parking assistance.) Second, by appropriately modifying the cost functional used, it is possible to enhance the algorithm with the capability of avoiding pre-specified obstacles during the parking maneuver. (This should be useful for the development of unmanned robot vehicles with autonomous maneuvering capabilities.) Third: it is of interest to investigate how the algorithm described above can be modified to be used within a control system with a given configuration of actuators and sensors.


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    Titel :

    Optimal control of a vehicle during parking


    Weitere Titelangaben:

    Optimale Regelung eines Fahrzeuges während des Parkens


    Beteiligte:


    Erscheinungsdatum :

    2004


    Format / Umfang :

    6 Seiten


    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Datenträger


    Sprache :

    Englisch




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