We consider a finite element approximation of the Bellman equation for the optimal control of switched systems. We show that the problem belongs to a special class that we studied in a previous work, for which we developed an efficient solution algorithm. As an application, we present the problem of generating parking maneuvers for self-driving vehicles on two typical urban parking scenarios. The vehicle is described by four different switched systems in which every switching is associated to a penalization term. In this way, we obtain parking paths that have a small number of direction changes and have a simple structure.

A graph-based algorithm for optimal control of switched systems: An application to car parking / Laurini, M.; Consolini, L.; Locatelli, M.. - In: IEEE TRANSACTIONS ON AUTOMATIC CONTROL. - ISSN 0018-9286. - (2021). [10.1109/TAC.2021.3060706]

A graph-based algorithm for optimal control of switched systems: An application to car parking

Laurini M.;Consolini L.;Locatelli M.
2021

Abstract

We consider a finite element approximation of the Bellman equation for the optimal control of switched systems. We show that the problem belongs to a special class that we studied in a previous work, for which we developed an efficient solution algorithm. As an application, we present the problem of generating parking maneuvers for self-driving vehicles on two typical urban parking scenarios. The vehicle is described by four different switched systems in which every switching is associated to a penalization term. In this way, we obtain parking paths that have a small number of direction changes and have a simple structure.
A graph-based algorithm for optimal control of switched systems: An application to car parking / Laurini, M.; Consolini, L.; Locatelli, M.. - In: IEEE TRANSACTIONS ON AUTOMATIC CONTROL. - ISSN 0018-9286. - (2021). [10.1109/TAC.2021.3060706]
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11381/2894699
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