Optimal Path of Headland for Tractors by Optimal Control Theory (Part 1) Formulation of Optimal Control Problems and Forward Maneuver of Tractors

Ryo TORISU; Ken-ichi TANAKA; Joe IMAE; Takashi ISHIKAWA

doi:10.11357/jsam1937.59.4_3

Optimal Path of Headland for Tractors by Optimal Control Theory (Part 1)

Formulation of Optimal Control Problems and Forward Maneuver of Tractors

Ryo TORISU, Ken-ichi TANAKA, Joe IMAE, Takashi ISHIKAWA

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Keywords: tractor, headland, nonholonomic mobile robot, trajectory optimization, optimal control theory, computational method

JOURNAL FREE ACCESS

1997 Volume 59 Issue 4 Pages 3-10

DOI https://doi.org/10.11357/jsam1937.59.4_3

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Abstract

We deal with optimal time/path problems of tractors on the headland. Firstly, we show that such problems are essentially equivalent to trajectory optimization problems of nonholonomic mobile robot. Secondly, making use of Pontryagin's maximum principle we analytically explore such optimal problems. Lastly, by means of trajectory optimization techniques we computationally solve the optimal time/path problems of tractors on the headland.

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