基于最优控制的旋转约束自动驾驶车辆边界保护博弈优势区域

IF 2.2 4区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

IET Control Theory and Applications Pub Date : 2025-04-15 DOI:10.1049/cth2.70023

Xinxin Guo, Yucheng Zhang, Guixi Ke, Weisheng Yan, Rongxin Cui

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引用次数: 0

摘要

本文解决了基于最优控制的边界守卫博弈的优势区域问题，其中带有旋转约束的自动驾驶车辆作为防守者守卫目标区域。根据过渡点的定义，分别在无界域和凸域上显式表示了最小到达时间。利用提出的最小到达时间的显式表达式，本文开发了一种生成边界守卫博弈优势区域的数值算法。最后，通过仿真结果验证了算法生成旋转约束自动驾驶汽车优势区域的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

Optimal Control-Based Dominance Regions for Boundary-Guarding Games with Rotationally-Constrained Autonomous Vehicles

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Optimal Control-Based Dominance Regions for Boundary-Guarding Games with Rotationally-Constrained Autonomous Vehicles

This article solves dominance regions for boundary-guarding games based on optimal control, where autonomous vehicles with rotation constraints serve as defenders to guard the target zone. Based on the definition of transition point, the minimum reach time is explicitly expressed in unbounded and convex domains, respectively. Using the proposed explicit expression of minimum reach time, this article develops a numerical algorithm to generate dominance regions for boundary-guarding games. Finally, simulation results are provided to verify the algorithmic validity to generate dominance regions for rotationally-constrained autonomous vehicles.

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来源期刊

IET Control Theory and Applications 工程技术-工程：电子与电气

CiteScore

5.70

自引率

7.70%

发文量

167

审稿时长

5.1 months

期刊介绍： IET Control Theory & Applications is devoted to control systems in the broadest sense, covering new theoretical results and the applications of new and established control methods. Among the topics of interest are system modelling, identification and simulation, the analysis and design of control systems (including computer-aided design), and practical implementation. The scope encompasses technological, economic, physiological (biomedical) and other systems, including man-machine interfaces. Most of the papers published deal with original work from industrial and government laboratories and universities, but subject reviews and tutorial expositions of current methods are welcomed. Correspondence discussing published papers is also welcomed. Applications papers need not necessarily involve new theory. Papers which describe new realisations of established methods, or control techniques applied in a novel situation, or practical studies which compare various designs, would be of interest. Of particular value are theoretical papers which discuss the applicability of new work or applications which engender new theoretical applications.