Optimum Vehicle Trajectory Control for Obstacle Avoidance Problem

Abstract

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 brake and steering systems while using a sequential quadratic programming with pseudo-inverse matrix for the derivation