Journal ArticleDOI
Obstacle avoidance of autonomous vehicles based on model predictive control
Jaemann Park,Duk-Sil Kim,Yongsoon Yoon,Hyunyong Kim,Kyongsu Yi +4 more
- Vol. 223, Iss: 12, pp 1499-1516
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TLDR
In this paper, an obstacle avoidance scheme for autonomous vehicles as an active safety procedure in unknown environments is presented using the non-linear model predictive framework, in which the simplified dynamics of the vehicle are used to predict the state of vehicle over the look-ahead horizon.Abstract:
This paper presents an obstacle avoidance scheme for autonomous vehicles as an active safety procedure in unknown environments. Safe trajectories are generated using the non-linear model predictive framework, in which the simplified dynamics of the vehicle are used to predict the state of the vehicle over the look-ahead horizon. To compensate for the slight dissimilarity between the simplified model and the actual vehicle, a separate controller is designed to track the generated trajectory. The longitudinal dynamics of the vehicle are controlled using the inverse dynamics of the vehicle powertrain model, and the lateral dynamics are controlled using a linear quadratic regulator. In the non-linear model predictive framework, to obtain safe trajectories, local obstacle information is incorporated into the performance index using a parallax-based method. Simulation results on a full non-linear vehicle model show that the proposed combination of model-predictive-control-based trajectory generation and...read more
Citations
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Journal ArticleDOI
Algorithms for collision-free navigation of mobile robots in complex cluttered environments: a survey
TL;DR: Methods applicable to stationary obstacles, moving obstacles and multiple vehicles scenarios are reviewed, and particular attention is given to reactive methods based on local sensory data, with a special focus on recently proposed navigation laws based on model predictive and sliding mode control.
Journal ArticleDOI
Model Predictive Control in Aerospace Systems: Current State and Opportunities
Journal ArticleDOI
Lateral Vehicle Trajectory Optimization Using Constrained Linear Time-Varying MPC
TL;DR: A trajectory optimization algorithm is proposed, which formulates the lateral vehicle guidance task along a reference curve as a constrained optimal control problem by means of a linear time-varying model predictive control scheme that generates trajectories for path following under consideration of various time-Varying system constraints in a receding horizon fashion.
Journal ArticleDOI
Combined Speed and Steering Control in High-Speed Autonomous Ground Vehicles for Obstacle Avoidance Using Model Predictive Control
TL;DR: Simulation results show that the proposed algorithm is capable of safely exploiting the dynamic limits of the vehicle while navigating the vehicle through sensed obstacles of different sizes and numbers and can significantly improve performance by allowing navigation of obstacle fields that would otherwise not be cleared with steering control alone.
Proceedings ArticleDOI
Automatic collision avoidance using model-predictive online optimization
Moritz Werling,Darren Liccardo +1 more
TL;DR: An obstacle avoidance algorithm that simultaneously optimizes steering and braking is proposed that embarks on the nonlinear model-predictive control (NMPC) paradigm, which is capable of solving the optimization problem online.
References
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Research advances in intelligent collision avoidance and adaptive cruise control
Ardalan Vahidi,Azim Eskandarian +1 more
TL;DR: This paper explains the initiatives for automation in different levels of transportation system with a specific emphasis on the vehicle-level automation, and the impact of automation/warning systems on each of the above-mentioned factors.
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TL;DR: A novel formulation of the artificial potential approach to the obstacle avoidance problem for a mobile robot or a manipulator in a known environment and an elegant control strategy for the real-time control of a robot is proposed.
Proceedings ArticleDOI
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TL;DR: A method for planning smooth robot paths is presented that relies on the use of Laplace's equation to constrain the generation of a potential function over regions of the configuration space of an effector.
Journal ArticleDOI
MPC-Based Approach to Active Steering for Autonomous Vehicle Systems
TL;DR: In this paper, a model predictive control (MPC) scheme is designed in order to stabilize a vehicle along a desired path while fulfilling its physical constraints, and the trade off between the vehicle speed and the required preview on the desired path is highlighted.
Journal ArticleDOI
Design, tuning, and evaluation of a full-range adaptive cruise control system with collision avoidance
TL;DR: In this article, a full-range adaptive cruise control (ACC) system with collision avoidance (CA) is proposed to improve drivers' comfort during normal, safe-driving situations and to completely avoid rear-end collision in vehicle-following situations.