A novel adaptive pseudospectral method for the optimal control problem of automatic car parking
点击次数：
DOI码：10.1002/asjc.2534
发表刊物：Asian Journal of Control
关键字：adaptive pseudospectral method, autonomous parking, nonlinear programming, Optimal control, trajectory optimization
摘要：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.
合写作者：Heng Mai,Zemian Zhang
第一作者：Xuesong Chen
论文类型：期刊论文
通讯作者：Fangqing Gu
卷号：24
期号：3
页面范围：1363-1377
是否译文：否
发表时间：2021-04-16
收录刊物：SCI
发布期刊链接：https://onlinelibrary.wiley.com/doi/10.1002/asjc.2534
附件：