Minimum Time Maneuver for a Nonholonomic Car with Acceleration Constraints: Preliminary Results

Author

Saccon, Alessandro

Author_Institution

Dept. of Inf. Eng., Padova Univ.

fYear

2005

fDate

27-29 June 2005

Firstpage

1337

Lastpage

1342

Abstract

The aim of this paper is twofold: to introduce a minimum time optimal control problem and to provide a preliminary result on a simplified and slightly different version of it. In the specific, we are interested to find a minimum time maneuver for a nonholonomic car which is constrained to remain within a specified track. The vehicle has to be driven as fast as possible to reach a target position while also satisfying a constraint on the lateral and longitudinal accelerations. This general problem is related to the simplified problem of finding a minimum time control for steering a bidimensional double integrator with input constraints from an initial to a final condition

Keywords

acceleration control; automobiles; constraint theory; navigation; optimal control; position control; acceleration constraints; bidimensional double integrator; constraint satisfaction; input constraint; lateral acceleration; longitudinal acceleration; minimum time maneuver; minimum time optimal control; nonholonomic car; target position; Acceleration; Circuits; Geometry; Optimal control; Path planning; Shortest path problem; Target tracking; Tires; Vehicle driving; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control, 2005. Proceedings of the 2005 IEEE International Symposium on, Mediterrean Conference on Control and Automation

Conference_Location

Limassol

ISSN

2158-9860

Print_ISBN

0-7803-8936-0

Type

conf

DOI

10.1109/.2005.1467210

Filename

1467210