1,808 research outputs found
Optimal Control of Sweeping Processes in Robotics and Traffic Flow Models
The paper is mostly devoted to applications of a novel optimal control theory for perturbed sweeping/Moreau processes to two practical dynamical models. The first model addresses mobile robot dynamics with obstacles, and the second one concerns control
and optimization of traffic flows. Describing these models as controlled sweeping processes with pointwise/hard control and state constraints and applying new necessary optimality conditions for such systems allow us to develop efficient procedures to solve
naturally formulated optimal control problems for the models under consideration and completely calculate optimal solutions in particular situations
A Rotating-Grid Upwind Fast Sweeping Scheme for a Class of Hamilton-Jacobi Equations
We present a fast sweeping method for a class of Hamilton-Jacobi equations
that arise from time-independent problems in optimal control theory. The basic
method in two dimensions uses a four point stencil and is extremely simple to
implement. We test our basic method against Eikonal equations in different
norms, and then suggest a general method for rotating the grid and using
additional approximations to the derivatives in different directions in order
to more accurately capture characteristic flow. We display the utility of our
method by applying it to relevant problems from engineering
Optimal control of sweeping processes in unmanned surface vehicle and nanoparticle modeling
This paper addresses novel applications to practical modeling of the newly
developed theory of necessary optimality conditions in controlled
sweeping/Moreau processes with free time and pointwise control and state
constraints. Problems of this type appear, in particular, in dynamical models
dealing with unmanned surface vehicles (USVs) and nanoparticles. We formulate
optimal control problems for a general class of such dynamical systems and show
that the developed necessary optimality conditions for constrained free-time
controlled sweeping processes lead us to designing efficient procedures to
solve practical models of this class. Moreover, the paper contains numerical
calculations of optimal solutions to marine USVs and nanoparticle models in
specific situations. Overall, this study contributes to the advancement of
optimal control theory for constrained sweeping processes and its practical
applications in the fields of marine USVs and nanoparticle modeling
Recommended from our members
Models for Human Navigation and Optimal Path Planning Using Level Set Methods and Hamilton-Jacobi Equations
We present several models for different physical scenarios which are centered around human movement or optimal path planning, and use partial differential equations and concepts from control theory. The first model is a game-theoretic model for environmental crime which tracks criminals' movement using the level set method, and improves upon previous continuous models by removing overly restrictive assumptions of symmetry. Next, we design a method for determining optimal hiking paths in mountainous regions using an anisotropic level set equation. After this, we present a model for optimal human navigation with uncertainty which is rooted in dynamic programming and stochastic optimal control theory. Lastly, we consider optimal path planning for simple, self-driving cars in the Hamilton-Jacobi formulation. We improve upon previous models which simplify the car to a point mass, and present a reasonably general upwind, sweeping scheme to solve the relevant Hamilton-Jacobi equation
Simulating use cases for the UAH autonomous electric car
2019 IEEE Intelligent Transportation Systems Conference (ITSC), Auckland, New Zealand, 27-30 Oct. 2019This paper presents the simulation use cases for
the UAH Autonomous Electric Car, related with typical driving
scenarios in urban environments, focusing on the use of hierarchical interpreted binary Petri nets in order to implement the
decision making framework of an autonomous electric vehicle.
First, we describe our proposal of autonomous system architecture, which is based on the open source Robot Operating
System (ROS) framework that allows the fusion of multiple
sensors and the real-time processing and communication of
multiple processes in different embedded processors. Then, the
paper focuses on the study of some of the most interesting
driving scenarios such as: stop, pedestrian crossing, Adaptive
Cruise Control (ACC) and overtaking, illustrating both the
executive module that carries out each behaviour based on
Petri nets and the trajectory and linear velocity that allows
to quantify the accuracy and robustness of the architecture
proposal for environment perception, navigation and planning
on a university Campus.Ministerio de Economía y CompetitividadComunidad de Madri
- …