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Real-time capable solution for optimal control problems: a heterogeneous hardware approach

  • Janek Hudecek
  • Lutz Eckstein
Original Paper
  • 34 Downloads

Abstract

Optimization is a widespread tooling with diverse applications in nearly each technical discipline. Its task is to find a control function that minimizes a performance index while meeting boundary as well as continuous constraints. Different approaches exist to solve corresponding problems. This paper briefly summarizes the most important ones and based on that presents an improvement that reduces the transcribed problem’s dimensionality. Apart from that, implementation details are given, enabling the real-time capable solution of the resulting optimization problem. The generic approach is finally applied to a real-world problem, i.e., the planning of a reference trajectory of a front-steered vehicle. Closing, simulation results as well as achieved runtimes are presented.

Keywords

Real-time optimal control Trajectory generation Heterogeneous computing 

Notes

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Copyright information

© Springer Nature Switzerland AG 2018

Authors and Affiliations

  1. 1.FLAAachenGermany

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