This paper discusses an obstacle avoidance problem. A new control algorithm for obstacle avoidance within the shortest possible distance is proposed. The algorithm is composed of two steps. In the first step, optimal trajectory and a corresponding force and moment are determined based on a second-order cone programming. In the second step, the computed force and moment are realized through the controlling brake and steering systems while using a sequential quadratic programming with pseudo-inverse matrix for the derivation.
Optimum vehicle trajectory control for obstacle avoidance problem
IEEE/ASME Transactions on Mechatronics ; 11 , 5 ; 507-512
2006
6 Seiten, 6 Quellen
Aufsatz (Zeitschrift)
Englisch
British Library Conference Proceedings | 2008
|Europäisches Patentamt | 2021
|Europäisches Patentamt | 2020
|