Comparative Study of Dynamic Programming and Pontryagin's Minimum Principle for Autonomous Multi-Wheeled Combat Vehicle Path Planning

This paper presents a comparative study of two path planning algorithms using optimal control theory for the autonomous multi-wheeled combat vehicle. The developed optimal path planning algorithms use Pontryagin's minimum principle (PMP) and dynamic programming (DP) approaches. PMP and DP are two major branches of the optimal control theory. A simplified two degrees of freedom (DOF) vehicle model is used to derive the differential equations of the vehicle. The cost function associated with the path generation is to be minimized with the vehicle dynamics equations. A comparative study and performance analysis of generated optimal paths using the proposed algorithms was carried out for various scenarios. The simulation results demonstrate that the generated optimal solution using PMP is very close to the DP solution, which is the guaranteed global optimum. In addition, the initial and final condition parameters and the vehicle dynamics are satisfied. However, the PMP computation time is significantly less than the DP.

• Record URL:
  • https://doi.org/10.1504/IJHVS.2019.101498
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/1744232X
• Supplemental Notes:
  • Copyright © 2018 Inderscience Enterprises Ltd.
• Authors:
  • Mohamed, Amr
  • Ren, Jing
  • Huang, Xishi
  • Ouda, A N
  • Abdo, G M
• Publication Date: 2019

Language

• English

Media Info

• Media Type: Web
• Features: References;
• Pagination: pp 565-577
• Serial:
  • International Journal of Heavy Vehicle Systems
  • Volume: 26
  • Issue Number: 3-4
  • Publisher: Inderscience Enterprises Limited
  • ISSN: 1744-232X
  • EISSN: 1741-5152
  • Serial URL: http://www.inderscience.com/jhome.php?jcode=IJHVS

Subject/Index Terms

• TRT Terms: Algorithms; Autonomous vehicles; Combat vehicles; Dynamic models; Trajectory control; Vehicle dynamics; Vehicle trajectories
• Subject Areas: Design; Motor Carriers; Safety and Human Factors;

Filing Info

• Accession Number: 01717065
• Record Type: Publication
• Files: TRIS
• Created Date: Sep 18 2019 9:17AM