Optimal Control for Kinematic Bicycle Model with Continuous-time Safety Guarantees: A Sequential Second-order Cone Programming Approach
Victor Freire,
Xiangru Xu
Abstract:The optimal control problem for the kinematic bicycle model is considered where the trajectories are required to satisfy the safety constraints in the continuous-time sense. Based on the differential flatness property of the model, necessary and sufficient conditions in the flat space are provided to guarantee safety in the state space. The optimal control problem is relaxed to the problem of solving three second-order cone programs (SOCPs) sequentially, which find the safe path, the trajectory duration, and t… Show more
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