Experimental Study of an Optimal-Control- Based Framework for Trajectory Planning, Threat Assessment, and Semi-Autonomous Control of Passenger Vehicles in Hazard Avoidance Scenarios

2010 ◽  
pp. 59-68 ◽  
Author(s):  
Sterling J. Anderson ◽  
Steven C. Peters ◽  
Tom E. Pilutti ◽  
Karl Iagnemma
Keyword(s):  
Experimental Study ◽  
Optimal Control ◽  
Trajectory Planning ◽  
Threat Assessment ◽  
Autonomous Control ◽  
Passenger Vehicles ◽  
Hazard Avoidance

Semi-Autonomous Avoidance of Moving Hazards for Passenger Vehicles

2010 ◽  
Author(s):  
Sterling J. Anderson ◽  
Steven C. Peters ◽  
Tom E. Pilutti ◽  
H. Eric Tseng ◽  
Karl Iagnemma
Keyword(s):  
Optimal Trajectory ◽  
Autonomous Control ◽  
Experimental Results ◽  
Control Law ◽  
Model Predictive Controller ◽  
Passenger Vehicles ◽  
Moving Obstacles ◽  
Hazard Avoidance ◽  
Predictive Controller

This paper presents a method for semi-autonomous hazard avoidance in the presence of unknown moving obstacles and unpredictable driver inputs. This method iteratively predicts the motion and anticipated intersection of the host vehicle with both static and dynamic hazards and excludes projected collision states from a traversable corridor. A model predictive controller iteratively replans a stability-optimal trajectory through the navigable region of the environment while a threat assessor and semi-autonomous control law modulate driver and controller inputs to maintain stability, preserve controllability, and ensure safe hazard avoidance. The efficacy of this approach is demonstrated through both simulated and experimental results using a semi-autonomously controlled Jaguar S-Type.

scholarly journals Robust Aircraft Trajectory Planning Under Wind Uncertainty Using Optimal Control

2018 ◽  
Vol 41 (3) ◽  
pp. 673-688 ◽  
Author(s):  
Daniel González-Arribas ◽  
Manuel Soler ◽  
Manuel Sanjurjo-Rivo
Keyword(s):  
Optimal Control ◽  
Trajectory Planning ◽  
Aircraft Trajectory

Trajectory Planning for Concrete Element Fabrication with Optimal Control

2021 ◽  
Author(s):  
Boris Blagojevic ◽  
Benjamin Schonemann ◽  
David Nigl ◽  
Lucio Blandini ◽  
Oliver Sawodny
Keyword(s):  
Optimal Control ◽  
Trajectory Planning ◽  
Concrete Element

Real-Time Cooperative Trajectory Planning Using Differential Flatness Approach and B-Splines

2013 ◽  
Vol 333-335 ◽  
pp. 1338-1343 ◽  
Author(s):  
Xue Qiang Gu ◽  
Yu Zhang ◽  
Jing Chen ◽  
Lin Cheng Shen
Keyword(s):  
Optimal Control ◽  
Real Time ◽  
Trajectory Planning ◽  
Differential Flatness ◽  
Planning Problem ◽  
Receding Horizon ◽  
B Splines ◽  
Battlefield Environment ◽  
Planning Space ◽  
Spatial Trajectories

This paper proposed a cooperative receding horizon optimal control framework, based on differential flatness and B-splines, which was used to solve the real-time cooperative trajectory planning for multi-UCAV performing cooperative air-to-ground target attack missions. The planning problem was formulated as a cooperative receding horizon optimal control problem (CRHC-OCP), and then the differential flatness and B-splines were introduced to lower the dimension of the planning space and parameterize the spatial trajectories. Moreover, for the dynamic and uncertainty of the battlefield environment, the cooperative receding horizon control was introduced. Finally, the proposed approach is demonstrated, and the results show that this approach is feasible and effective.

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