Path planning and optimal control of a 4WS vehicle using calculus of variations
In this paper,optimal control of a 4 wheel steering vehicle(4WSV)is performed using the calculus of variations,and its related optimal path is extracted according to a predefined objective function.Nowadays,4WS vehicles are growing rapidly as a result of their excellent maneuverability.Considering the fact that these systems are over-constrained,possible trajectories through which the vehicle can be transferred between two definite boundaries are not unique.As a result,extracting the optimum path,by which a predefined cost function could be minimized,is a useful study.To meet this goal,firstly,the model of the system is represented.Afterward,the calculus of variations method is applied to control the vehicle in an optimal way.Implementing the optimal values of control inputs not only satisfies the boundary conditions but also minimizes a specific cost function,simultaneously.The cost function is set to minimize the error and energy consumption,and the corresponding optimal path is also calculated.In order to verify the correctness of modeling,the results of MATLAB simulation are compared with those of CarSim.The efficiency of the considered optimal control method is also investigated by conducting some analytic and comparative simulation scenarios in MATLAB.The superiority of the proposed controlling method compared to non-optimal strategies is demonstrated by comparing the corresponding cost functions.Finally,it is proven that modeling and implementing the proposed optimal control method results in the optimal path between two predetermined boundaries,by which the maximum accuracy and the minimum energy consumption can be acquired.
Four wheel steering vehicle(4WSV)Optimal controlPath planningCalculus of variations methodModeling
Hami Tourajizadeh、Mohsen Sarvari、Samira Afshari
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Mechanical Engineering Department,Faculty of Engineering,Kharazmi University,Tehran,Iran
University of Iowa,Iowa,USA
Four wheel steering vehicle(4WSV) Optimal control Path planning Calculus of variations method Modeling
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