| MINIMUM ORDER BANG-BANG GUIDANCE FOR FEEDFORWARD OBSTACLE AVOIDANCE STEERING MANEUVERS OF VEHICLES |
| S. KANARACHOS, S. KANARACHOS |
| Frederick University |
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| ABSTRACT |
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In this paper, a new methodology is presented for computing time-optimal obstacle avoidance maneuvers for ground vehicles. Usually, the problem of obstacle avoidance is addressed in two parts. In the first part a path is planned. In the second an appropriately designed vehicle controller tracks the desired path. In view of the fact that the main problem concerning emergency maneuvers remains the development of an optimal control for minimum time and maximum maneuverability - with respect to the slip risk due to saturation of the tire forces - the authors propose an alternative approach. Considering that the time optimal control according to Pontryagin |
| Key Words:
Obstacle avoidance maneuver, Bang bang control, Least squares approximation |
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