Summary
International Symposium on Nonlinear Theory and its Applications
2017
Session Number:A1L-B
Session:
Number:A1L-B-4
Obstacle Avoidance of 4-wheeled Vehicle Using Receding Horizon Control with iLQG Method Considering Computational Delay
Yun Qian, Toshimitsu Ushio,
pp.22-25
Publication Date:2017/12/4
Online ISSN:2188-5079
Summary:
We consider an obstacle avoidance problem of 4-wheeled vehicle. We represent the obstacle by a repulsive potential function and introduce a control cost function evaluating the state and the input. Then, we formulate the problem as a receding horizon control problem where the sum of both the repulsive function and the control cost function over the given time interval is optimized on-line. We also take into consideration a delay for computation of the control input and use an iLQG based method. By computer simulation, it is shown that the vehicle heading towards the target position along an acceptable path with avoiding the obstacle.