Time Mesh Refinement in Optimal Control Problems for Nonholonomic Vehicles

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2014

Autores

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

Ata de Conferência Internacional

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

Páginas: 178-185

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

Lisbon, PORTUGAL, DEC 05-06, 2013

Indexação

ISI Web of Knowledge - 7 Citações

Outras Informações

ID Authenticus: 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/).

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 8