TitleA Dynamic Programming Approach to Optimal Planning for Vehicles with Trailers
Publication TypeConference Paper
Year of Publication2007
Conference NameProc. IEEE Int. Conf. on Robotics and Automation
Pagination3098 - 3103
Publication Languageeng
AuthorsPallottino, L, Bicchi, A
KeywordsEmbedded Control, Robotics

In this paper we deal with the optimal feedback synthesis problem for robotic vehicles with trailers which can be modeled by differential equations in chained-form. With respect to classical methods for numerical evolution of optimal feedback synthesis via Dynamic Programming which are based on both input and state discretization, our method exploits the lattice structure naturally imposed on the reachable set by input quantization. A generalized Dijkstra algorithm can be used to obtain optimal feedback control laws, for chained-form vehicles with n-trailers, in an effective way.

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