障害物配置法を用いた最適走行の解析

抄録

In this paper, a novel trajectory generation method for numerical analysis of a vehicle dynamics has been investigated. An obstacle layout method which lays obstacles around preliminarily given course shape can easily provide a state variable inequality constraint of the optimal control theory. To arrange any convex-area such as circles, squares and rectangles, obstacles are defined by the p-norm function. The time-optimal problem is constructed using the proposed method and it is solved by the pseudospectral optimization technique. Numerical results show that the proposed method yields feasible optimal trajectories for given course shapes including oval circuit.