Abstract
This paper investigates the real-time optimal feedback control of a micro ground vehicle (MGV) in the Kturn caused by a nonholonomic system characteristic. The modified Carathéodory-π (MC-π) solutions, which implemented the tracking controller into the Carathéodory-π (C-π) solutions, is used to drive the MGV in realtime. The optimal control problem is prescribed as a minimum-time maneuver of the MGV to traverse from an initial start point and reach its goal, and it is solved using pseudospectral (PS) optimal control theory during each interval of the sampling time of MC-π solutions. Experimental results demonstrate the advantages of the MC-π solutions over the real-time optimal feedback K-turn maneuver.
