The autonomous vehicle is one of the greatest challenges in modern vehicle design. This paper proposes a new method of control named FLOP, Feedback Local Optimality Principle, recently proposed by the authors. The method, starting from the Pontryagin's theory, introduces a new optimality principle that minimizes a sequence of individual functionals with the chance of a direct feedback control. The theory is applied to the steering and traction control of a two-wheeled vehicle, showing the ability of tracking a given trajectory, obstacles avoidance in a complex environment and measuring the benefits for driving safety.
A new optimal control of obstacle avoidance for safer autonomous driving
2019-07-01
3946974 byte
Conference paper
Electronic Resource
English
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