Authors: Stratis A. Kanarachos
Addresses: Mechanical Engineering Department, Frederick University, Lefkosia, Cyprus
Abstract: In this paper, a new method for the computation of optimal obstacle avoidance steering manoeuvres, within the consideration of the vehicle dynamics, is presented and discussed. The method is based on a reformulation of Pontryagin|s Maximum Principle (PMP), in which the manoeuvre time is prescribed and the bang-bang control amplitude is minimised. The resulting control is computationally extremely efficient and has very interesting performance features. Numerical examples and benchmark tests illustrate the performance of the proposed methodology. A sensitivity analysis for different vehicle parameters is performed and finally conclusions and future directions are drawn.
Keywords: obstacle avoidance; steering manoeuvres; PMP; Pontryagin maximum principle; computational efficiency; collision avoidance; vehicle dynamics.
International Journal of Vehicle Autonomous Systems, 2009 Vol.7 No.1/2, pp.73 - 95
Received: 04 Mar 2008
Accepted: 10 Feb 2009
Published online: 24 Aug 2009 *