A new optimal control of obstacle avoidance for safer autonomous driving
04 Pubblicazione in atti di convegno
Pepe Gianluca, Laurenza Maicol, Antonelli Dario, Carcaterra Antonio
The autonomous vehicle is one of the greatest challenges in modern vehicle design. This paper proposes a new method of control named FLOP, Feedback Local Optimality Principle, recently proposed by the authors. The method, starting from the Pontryagin's theory, introduces a new optimality principle that minimizes a sequence of individual functionals with the chance of a direct feedback control. The theory is applied to the steering and traction control of a two-wheeled vehicle, showing the ability of tracking a given trajectory, obstacles avoidance in a complex environment and measuring the benefits for driving safety.