Real-time optimisation for parallel-parking control of four-wheeled vehicles

Joe Imae, Koichiro Yoshimura, Guisheng Zhai, Tomoaki Kobayashi

研究成果: Article査読

6 被引用数 (Scopus)

抄録

This paper proposes a real-time optimisation approach to the parallel-parking control problem, focusing on the lateral and yaw dynamics. It should be noted that the parallel parking problem incorporating such dynamics is difficult to solve numerically/ analytically. First, we formulate the parallel parking problem as a control problem in a descriptor form. Then, by introducing a new idea, we transform the control problem into a kind of unconstrained optimal control problem, to which the real-time optimisation method is applicable. Finally, a numerical simulation is demonstrated to illustrate the effectiveness of our proposed approach.

本文言語English
ページ(範囲)255-262
ページ数8
ジャーナルInternational Journal of Modelling, Identification and Control
6
3
DOI
出版ステータスPublished - 2009
外部発表はい

ASJC Scopus subject areas

  • モデリングとシミュレーション
  • コンピュータ サイエンスの応用
  • 応用数学

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