Proceedings ArticleDOI
Obstacle avoidance in real time with Nonlinear Model Predictive Control of autonomous vehicles
Muhammad Awais Abbas,Ruth Milman,J. Mikael Eklund +2 more
- pp 1-6
TLDR
The NMPC controller provides satisfactory online tracking performance in a realistic scenario at normal road speeds while still satisfying the real-time constraints, and it is shown that the longer prediction horizons allow for better responses of the controllers, which reduce the deviations while avoiding the obstacles, as compared with shorter horizons.Abstract:
A Nonlinear Model Predictive Controller (NMPC) for trajectory tracking of autonomous vehicles is presented in this paper. This controller is tested under several constrained scenarios including static obstacle avoidance and avoidance of obstacles with more complex constraints. In the latter case the real life necessary constraint of remaining on the road while performing the obstacle avoidance manoeuvers is implemented. The resulting controllers are applied and tested in a simulation environment and the required CPU time is analyzed to evaluate the ability to implement these schemes in real-time using both cold and warm starts for the embedded optimization problem. In order to simplify the vehicle dynamics, a bicycle model is used for the prediction of future vehicle states in the NMPC framework. A fully nonlinear CarSim vehicle model is used to evaluate the vehicle performance in the simulations. Results show that the NMPC controller provides satisfactory online tracking performance in a realistic scenario at normal road speeds while still satisfying the real-time constraints.read more
Citations
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Proceedings ArticleDOI
The kinematic bicycle model: A consistent model for planning feasible trajectories for autonomous vehicles?
TL;DR: This paper studies the kinematic bicycle model, which is often used for trajectory planning, and compares its results to a 9 degrees of freedom model, and proposes a simple and efficient consistency criterion to validate the use of this model for planning purposes.
Proceedings Article
High-speed trajectory planning for autonomous vehicles using a simple dynamic model
TL;DR: In this article, the authors proposed a new approach to drive a vehicle at high speed along a predetermined path using Model Predictive Control (MPC) using a simplified second-order integrator model which is constrained to match the vehicle's feasible dynamic envelope.
Proceedings ArticleDOI
Partitioning of the free space-time for on-road navigation of autonomous ground vehicles
TL;DR: In this article, a systematic approach to partition the collision-free portion of the space-time into convex subregions that can be interpreted in terms of relative positions with respect to a set of fixed or mobile obstacles is proposed.
Journal ArticleDOI
Autonomous driving motion planning with obstacles prioritization using lexicographic optimization
TL;DR: A motion planning method is presented that avoids obstacles according to their priority orders that utilizes a model predictive controller with obstacle constraints and applies lexicographic optimization to the controller to prioritize the constraints, and subsequently, prioritize the obstacles.
Proceedings ArticleDOI
Guaranteeing Consistency in a Motion Planning and Control Architecture Using a Kinematic Bicycle Model
TL;DR: In this article, a 10Hz motion planner based on a kinematic bicycle Model Predictive Control (MPC) and a 100Hz closed-loop Proportional-Integral-Derivative (PID) controller are combined to cope with normal driving situations.
References
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Proceedings ArticleDOI
Nonlinear model predictive tracking control for rotorcraft-based unmanned aerial vehicles
TL;DR: In this paper, the authors investigate the feasibility of a nonlinear model predictive tracking control (NMPTC) for autonomous helicopters, and formulate a NMPTC algorithm for planning paths under input and state constraints and tracking the generated position and heading trajectories.
Journal ArticleDOI
Model-predictive active steering and obstacle avoidance for autonomous ground vehicles
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Proceedings ArticleDOI
Trajectory planning for a four-wheel-steering vehicle
Danwei Wang,Feng Qi +1 more
TL;DR: A trajectory planning algorithm for a four-wheel-steering vehicle based on vehicle kinematics is developed and the flexibility offered by the steering is utilized fully in the trajectory planning.
Proceedings ArticleDOI
A hierarchical Model Predictive Control framework for autonomous ground vehicles
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Journal ArticleDOI
Switched and Symmetric Pursuit/Evasion Games Using Online Model Predictive Control With Application to Autonomous Aircraft
TL;DR: A supervisory controller for pursuit and evasion of two fixed-wing autonomous aircraft, providing switching criteria to change modes to become a pursuer based on the current and future state of the vehicle under control, and that of the adversarial aircraft.