Time Mesh Refinement in Optimal Control Problems for Nonholonomic Vehicles

• Type: Article in International Conference Proceedings Book
• Date: 2014

Authors

L.T. Paiva (Author) FEUP; Fontes, Fernando A C C (Author) FEUP

Conference proceedings International

Title: CONFERENCE ON ELECTRONICS, TELECOMMUNICATIONS AND COMPUTERS - CETC 2013

Pages: 178-185

2nd Conference on Electronics, Telecommunications, and Computers (CETC)

Lisbon, PORTUGAL, DEC 05-06, 2013

Indexing

ISI Web of Knowledge - 7 Citations

Other information

Authenticus ID: P-00G-KNG

DOI: 10.1016/j.protcy.2014.10.226

Abstract (EN): Direct methods are becoming the most used technique to solve nonlinear optimal control problems. Regular time meshes having equidistant spacing are most frequently used. However, in some cases, these meshes cannot cope accurately with nonlinear behaviour unless a very large number of mesh nodes is used. One way to improve the solution involves adaptive mesh refinement algorithms which allow a non uniform node collocation. In the method presented in this paper, a time mesh refinement strategy based on the local error is developed. The technique was applied to solve two problems involving nonholonomic vehicles and it led to results with higher accuracy and yet with lower overall computational time when compared to a mesh having equidistant nodes. (C) 2014 The Authors. Published by Elsevier Ltd. This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/3.0/).

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 8