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This report focuses on developing a control algorithm for obstacle avoidance in automobile maneuvering. For the derivation, an optimal control problem is formulated as minimizing the longitudinal movement to avoid the collision. The optimal inputs are then obtained by referring a simple map constructed in a 3-dimensional space expressing a functional relationship between the vehicle velocities in...
This paper discusses an obstacle avoidance problem. A new control algorithm for obstacle avoidance within the shortest possible distance is proposed. The algorithm is composed of two steps. In the first step, optimal trajectory and a corresponding force and moment are determined based on a second-order cone programming. In the second step, the computed force and moment are realized through the controlling...
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