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.


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    Title :

    Optimum vehicle trajectory control for obstacle avoidance problem


    Contributors:
    Hattori, Y. (author) / Ono, E. (author) / Hosoe, S. (author)

    Published in:

    Publication date :

    2006


    Size :

    6 Seiten, 6 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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