Optimal Control meets graph-based methods: Autonomous driving on Turnpikes

Speaker: Prof. Dr. Kathrin Flaßkamp
Affiliation: Universität des Saarlandes, Germany
Organized by: FAU DCN-AvH, Chair for Dynamics, Control and Numerics – Alexander von Humboldt Professorship at FAU Erlangen-Nürnberg (Germany)

Zoom meeting link
Meeting ID: 691 0291 3746 | PIN code: 410118

Abstract. In this talk we consider optimal control problems that occur for planning tasks for autonomous systems. The presented approach combines optimal control techniques with graph-based methods by using motion primitives. Such primitives are representative solutions to the system dynamics induced by symmetries, e.g. invariances in mechanical systems. Optimal operation on primitives can be defined in terms of turnpike theory. We illustrate this method by autonomous driving applications.