Clock-based real-time optimal control of a skid-steered vehicle

摘要

This paper investigates a real-time optimal control of a skid-steered vehicle (SSV) using a clock-based algorithm. The optimal control problem is sequentially solved by a pseudospectral optimal control theory as a minimum-time relocation maneuver and an obstacle avoidance maneuver. The SSV uses the generated optimal control law for its maneuver. The proposed approach is numerically validated by controlling the SSV. Results demonstrate the feasibility of commanding the SSV with the optimal solutions generated by this method.