@inproceedings{6f75357b4c8f46959bb2d99534dc61b0,
title = "Optimal motion planning of four-wheeled trailer system",
abstract = "To solve the problem of optimal motion planning of four-wheeled trailer systems(FWTSs) with control constraints, a symplectic numerical method for optimal control subject to index-2 differential-algebraic equations(DAEs) with inequality constraints is developed. In the proposed method, the optimal control problem is firstly converted into a mixed nonlinear complementary problem(MNCP) with the help of variation principle and generation function theory. Then, the mixed nonlinear complementary problem is converted into equivalent nonsmooth equations. Finally, the nonsmooth equations are solved by nonsmooth Newton method. The proposed method satisfies the first-order necessary conditions and matrices involved are sparse, it is beneficial to save memory and heighten efficiency. Numerical simulations demonstrate that the proposed method is effective for motion planning of four-wheeled trailer system.",
keywords = "Differential-algebraic equations, Four-wheeled trailer system, Motion planning, Optimal control, Symplectic method",
author = "Boyang Shi and Haijun Peng and Xinwei Wang and Lingchong Gao and Johannes Fottner",
note = "Publisher Copyright: {\textcopyright} 2019 Technical Committee on Control Theory, Chinese Association of Automation.; 38th Chinese Control Conference, CCC 2019 ; Conference date: 27-07-2019 Through 30-07-2019",
year = "2019",
month = jul,
doi = "10.23919/ChiCC.2019.8865198",
language = "English",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "1856--1862",
editor = "Minyue Fu and Jian Sun",
booktitle = "Proceedings of the 38th Chinese Control Conference, CCC 2019",
}