An Optimal Control Based Approach to Dynamics Autonomous Vehicle

摘要

In this paper, we study the problem of optimal dynamics associated with a class of autonomous vehicles. Our main interest is with a minimal-time tracking controller design for these types of autonomous objects. In general, the prescribed movement direction of robotic vehicles depends on the interactions between the vehicle and its supporting medium. The dynamics planning via given tracking points should be part of the takeover of power because of a current position and orientation of the vehicle under consideration. The intelligent control strategy we propose is based on the optimal control methodology and leads to an autonomous robot behaviour through a set of the prescribed tracking points. The simulation results we include show good performance of the proposed controller implementation in a simple case.