Name
Abstract | ||
|---|---|---|
The Hamilton-Jacobi-Bellman (HJB) equation provides a general method to solve optimal control problems. Since the HJB equation is a nonlinear partial differential equation, a closed form solution does not exist for the general case and various numerical procedures have been developed for its solution. Some recent approaches, after some simplifications, convert the problem into a fixed-point iteration. One problem related to the iteration is that its convergence speed is rather poor. We propose a Jacobi-like acceleration that allows to improve the convergence speed. As an application, we compute the minimum-time solution of a parking maneuver for a car-like vehicle with bounded velocity and steering angle. |
Year | Venue | Field |
|---|---|---|
2016 | 2016 IEEE 55TH CONFERENCE ON DECISION AND CONTROL (CDC) | Hamilton–Jacobi–Bellman equation,Convergence (routing),Dynamic programming,Order of accuracy,Mathematical optimization,Optimal control,Control theory,Computer science,Acceleration,Partial differential equation,Bounded function |
DocType | ISSN | Citations |
Conference | 0743-1546 | 0 |
PageRank | References | Authors |
0.34 | 0 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Mattia Laurini | 1 | 3 | 2.77 |
| Piero Micelli | 2 | 0 | 1.01 |
| Luca Consolini | 3 | 276 | 31.16 |
| Marco Locatelli | 4 | 926 | 80.28 |