A possible strategy for finding the optimal path that connects two different configurations of a car-like vehicle can be addressed by solving two different sub-problems: 1. identifying a curve that connects the two points respecting the geometric constraints, 2. finding an optimal control strategy that drives the vehicle along the trajectory accounting for its dynamic constraints. In this paper, we focus on the second problem. Assuming that the vehicle moves along a specified clothoid, we find a semi-analytical solution for the optimal profile of the longitudinal acceleration (the control variable). Our technique explicitly considers non-linear dynamics, aerodynamic drag effect and bounds on the longitudinal and on the lateral acceleration.

Semi-analytical minimum time solutions for a vehicle following clothoid-based trajectory subject to velocity constraints / Frego, Marco; Bertolazzi, Enrico; Biral, Francesco; Fontanelli, Daniele; Palopoli, Luigi. - ELETTRONICO. - (2016), pp. 2221-2227. (Intervento presentato al convegno ECC 2016 tenutosi a Aalborg, Denmark nel 29th June-1st July 2016) [10.1109/ECC.2016.7810621].

Semi-analytical minimum time solutions for a vehicle following clothoid-based trajectory subject to velocity constraints

Frego, Marco;Bertolazzi, Enrico;Biral, Francesco;Fontanelli, Daniele;Palopoli, Luigi
2016-01-01

Abstract

A possible strategy for finding the optimal path that connects two different configurations of a car-like vehicle can be addressed by solving two different sub-problems: 1. identifying a curve that connects the two points respecting the geometric constraints, 2. finding an optimal control strategy that drives the vehicle along the trajectory accounting for its dynamic constraints. In this paper, we focus on the second problem. Assuming that the vehicle moves along a specified clothoid, we find a semi-analytical solution for the optimal profile of the longitudinal acceleration (the control variable). Our technique explicitly considers non-linear dynamics, aerodynamic drag effect and bounds on the longitudinal and on the lateral acceleration.
2016
2016 European Control Conference
Piscataway, NJ
IEEE
978-1-5090-2591-6
9781509025909
Frego, Marco; Bertolazzi, Enrico; Biral, Francesco; Fontanelli, Daniele; Palopoli, Luigi
Semi-analytical minimum time solutions for a vehicle following clothoid-based trajectory subject to velocity constraints / Frego, Marco; Bertolazzi, Enrico; Biral, Francesco; Fontanelli, Daniele; Palopoli, Luigi. - ELETTRONICO. - (2016), pp. 2221-2227. (Intervento presentato al convegno ECC 2016 tenutosi a Aalborg, Denmark nel 29th June-1st July 2016) [10.1109/ECC.2016.7810621].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11572/168725
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