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.
2021-01-01
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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
