论文标题
具有连续时间安全保证的运动学自行车模型的最佳控制：连续二阶编程方法
Optimal Control for Kinematic Bicycle Model with Continuous-time Safety Guarantees: A Sequential Second-order Cone Programming Approach
论文作者
论文摘要
在需要轨迹以在连续时间意义上满足安全限制的情况下，考虑了运动学自行车模型的最佳控制问题。基于模型的差异平坦特性，提供平坦空间中必要和足够的条件，以确保状态空间的安全性。最佳控制问题放宽了依次解决三个二阶程序（SECP）的问题，该问题分别找到了安全路径，轨迹持续时间和速度轮廓。这三个SECP的解决方案共同为原始最佳控制问题提供了亚最佳解决方案。提出了与最佳最佳控制求解器的模拟示例和比较，以证明所提出的方法的有效性。
The optimal control problem for the kinematic bicycle model is considered where the trajectories are required to satisfy the safety constraints in the continuous-time sense. Based on the differential flatness property of the model, necessary and sufficient conditions in the flat space are provided to guarantee safety in the state space. The optimal control problem is relaxed to the problem of solving three second-order cone programs (SOCPs) sequentially, which find the safe path, the trajectory duration, and the speed profile, respectively. Solutions of the three SOCPs together provide a sub-optimal solution to the original optimal control problem. Simulation examples and comparisons with state-of-the-art optimal control solvers are presented to demonstrate the effectiveness of the proposed approach.
