DOI number:10.1002/asjc.2534

Journal:Asian Journal of Control

Key Words:adaptive pseudospectral method, autonomous parking, nonlinear programming, Optimal control, trajectory optimization

Abstract:This paper proposes a novel adaptive pseudospectral (NAP) method for solving the time-energy optimal control model to minimize the parking time and the energy output of the vehicle. The time-energy optimal control model is first discretized into a nonlinear programming problem at Gauss collocations by the NAP method. Subsequently, we prove the equivalence between the nonlinear programming problem derived from the NAP method and the time-energy optimal control model problem. Compared to those of the interior point method and the piecewise gauss pseudospectal method, simulation results show that the NAP method has higher computational efficiency and accuracy in solving the time-energy optimal control model problem.

Co-author:Heng Mai,Zemian Zhang

First Author:Xuesong Chen

Indexed by:Journal paper

Correspondence Author:Fangqing Gu

Volume:24

Issue:3

Page Number:1363-1377

Translation or Not:no

Date of Publication:2021-04-16

Included Journals:SCI

Links to published journals:https://onlinelibrary.wiley.com/doi/10.1002/asjc.2534