Direct collocation offers an efficient way of transcribing optimal control problems to form nonlinear optimizations. Collocation is particularly attractive for variable time problems as the finishing time can be made a decision variable. However, this causes problems in coupled multi-vehicle problems, for example, where different vehicles may have different finishing times. This paper proposes a way of capturing coupling constraints - in particular, collision avoidance - between vehicles without requiring a common time of arrival. The approach exploits a recently-developed dualization approach for avoidance constraints, extended to act time as well as spatial dimensions.
|Publication status||Published - Jul 2013|
|Event||European Control Conference - Zurich, United Kingdom|
Duration: 17 Jul 2013 → 19 Jul 2013
|Conference||European Control Conference|
|Period||17/07/13 → 19/07/13|