Vehicle Obstacle Avoidance Path Planning Based on Gauss Pseudospectral Method

Abstract

For the problem of vehicle obstacle avoidance control, a steering obstacle avoidance method based on Gauss pseudospectral method is designed. In this paper, the kinematics and dynamics models of vehicles are established as dynamic constraints, combining with state constraints and path constraint, the obstacle avoidance behavior of intelligent vehicles is summarized as a continuous optimal control problem which takes obstacle avoidance time as the optimal objective. In the research of solving the optimal control problem, Gauss pseudospectral method is adopted which utilizes numerical approximation techniques to transform the continuous optimal control problem into a discrete nonlinear programming problem with series of equality and inequality constraints. The trajectories of control variable and state variable are obtained through solving this nonlinear programming problems numerically. The effectiveness and control performance of this method are illustrated by simulation.