A semianalytic solution of the minimum‐time optimal control problem of a carlike vehicle is herein presented. The vehicle is subject to the effect of laminar (linear) and aerodynamic (quadratic) drag, taking into account the asymmetric bounded longitudinal accelerations. This yields a nonlinear differential equation of the Riccati kind. The associated analytic solution exists in closed form, but it is numerically ill conditioned in some situations; hence, it is reformulated using asymptotic expansions that keep the numerical computations accurate and robust in all cases. Therefore, the proposed algorithm is designed to be fast and robust in sight to be the fundamental module of a more extended optimal control problem that considers a given clothoid curve as the trajectory and the presence of a constraint on the lateral acceleration of the vehicle. The numerical stability of the computation for limit values of the parameters is essential, as shown in the numerical tests.
Optimal Control Applications and Methods – Wiley
Published: Jan 1, 2018
Keywords: ; ; ; ; ;
It’s your single place to instantly
discover and read the research
that matters to you.
Enjoy affordable access to
over 12 million articles from more than
10,000 peer-reviewed journals.
All for just $49/month
It’s easy to organize your research with our built-in tools.
All the latest content is available, no embargo periods.
“Whoa! It’s like Spotify but for academic articles.”@Phil_Robichaud