A New Optimal Control Algorithm and Its Application to Shortest Path Planning for Cars

M. Iwamura, H. Ozaki, and A. Mohri (Japan)


Optimal Control, Input Constraints, State Constraints, Gradient Method


This paper presents a novel gradient-type iterative algorithm for the solution of optimal control problems with constraints on the control variables, the terminal state and the state variables. The algorithm is applied to the shortest path planning problem of cars. The simulation results show the effectiveness of the proposed algorithm.

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