Maximum Principle in Autonomous Multi-Object Safe Trajectory Optimization
The following article presents the task of optimizing the control of an autonomous object within a group of other passing objects using Pontryagin’s bounded maximum principle. The basis of this principle is a multidimensional nonlinear model of the control process, with state constraints reflecting...
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-03-01
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| Series: | Electronics |
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| Online Access: | https://www.mdpi.com/2079-9292/13/6/1144 |
| _version_ | 1797241344564920320 |
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| author | Józef Andrzej Lisowski |
| author_facet | Józef Andrzej Lisowski |
| author_sort | Józef Andrzej Lisowski |
| collection | DOAJ |
| description | The following article presents the task of optimizing the control of an autonomous object within a group of other passing objects using Pontryagin’s bounded maximum principle. The basis of this principle is a multidimensional nonlinear model of the control process, with state constraints reflecting the motion of passing objects. The analytical synthesis of optimal multi-object control became the basis for the algorithm for determining the optimal and safe object trajectory. Simulation tests of the algorithm on the example of real navigation situations with various numbers of objects illustrate their safe trajectories in changing environmental conditions. The optimal object trajectory obtained using Pontryagin’s maximum principle was compared with the trajectory calculated using the Bellman dynamic programming method. The analysis of the research allowed for the formulation of valuable conclusions and a plan for further research in the field of autonomous vehicle control optimization. The maximum principle algorithm allows one to take into account a larger number of objects whose data are derived from ARPA anti-collision radar systems. |
| first_indexed | 2024-04-24T18:21:50Z |
| format | Article |
| id | doaj.art-e3c23c87d6e844d785fb782486a3ebc8 |
| institution | Directory Open Access Journal |
| issn | 2079-9292 |
| language | English |
| last_indexed | 2024-04-24T18:21:50Z |
| publishDate | 2024-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Electronics |
| spelling | doaj.art-e3c23c87d6e844d785fb782486a3ebc82024-03-27T13:35:06ZengMDPI AGElectronics2079-92922024-03-01136114410.3390/electronics13061144Maximum Principle in Autonomous Multi-Object Safe Trajectory OptimizationJózef Andrzej Lisowski0Faculty of Electrical Engineering, Gdynia Maritime University, 81-225 Gdynia, PolandThe following article presents the task of optimizing the control of an autonomous object within a group of other passing objects using Pontryagin’s bounded maximum principle. The basis of this principle is a multidimensional nonlinear model of the control process, with state constraints reflecting the motion of passing objects. The analytical synthesis of optimal multi-object control became the basis for the algorithm for determining the optimal and safe object trajectory. Simulation tests of the algorithm on the example of real navigation situations with various numbers of objects illustrate their safe trajectories in changing environmental conditions. The optimal object trajectory obtained using Pontryagin’s maximum principle was compared with the trajectory calculated using the Bellman dynamic programming method. The analysis of the research allowed for the formulation of valuable conclusions and a plan for further research in the field of autonomous vehicle control optimization. The maximum principle algorithm allows one to take into account a larger number of objects whose data are derived from ARPA anti-collision radar systems.https://www.mdpi.com/2079-9292/13/6/1144multi-object controlmaximum principlecomputer simulation |
| spellingShingle | Józef Andrzej Lisowski Maximum Principle in Autonomous Multi-Object Safe Trajectory Optimization Electronics multi-object control maximum principle computer simulation |
| title | Maximum Principle in Autonomous Multi-Object Safe Trajectory Optimization |
| title_full | Maximum Principle in Autonomous Multi-Object Safe Trajectory Optimization |
| title_fullStr | Maximum Principle in Autonomous Multi-Object Safe Trajectory Optimization |
| title_full_unstemmed | Maximum Principle in Autonomous Multi-Object Safe Trajectory Optimization |
| title_short | Maximum Principle in Autonomous Multi-Object Safe Trajectory Optimization |
| title_sort | maximum principle in autonomous multi object safe trajectory optimization |
| topic | multi-object control maximum principle computer simulation |
| url | https://www.mdpi.com/2079-9292/13/6/1144 |
| work_keys_str_mv | AT jozefandrzejlisowski maximumprincipleinautonomousmultiobjectsafetrajectoryoptimization |