Safe path-planning in an environment subject to the presence of other vehicles or obstacles in general is a crucial task for autonomous vehicle development. A complete control scheme is designed in order to test a decentralized fast MPC path planner algorithm. The proposed control scheme is composed by a receding replanner based on a fast numerical implementation of a nonlinear optimization problem and PIDs as trajectory tracker. A detailed description of the control problem formulation is provided as well as the mathematical models of vehicle considered. Numerical simulations of the control are discussed and finally conclusions are drawn.

Decentralized fast-MPC path planner for automated vehicles

Arrigoni, S.;Braghin, F.;Cheli, F.
2017

Abstract

Safe path-planning in an environment subject to the presence of other vehicles or obstacles in general is a crucial task for autonomous vehicle development. A complete control scheme is designed in order to test a decentralized fast MPC path planner algorithm. The proposed control scheme is composed by a receding replanner based on a fast numerical implementation of a nonlinear optimization problem and PIDs as trajectory tracker. A detailed description of the control problem formulation is provided as well as the mathematical models of vehicle considered. Numerical simulations of the control are discussed and finally conclusions are drawn.
2017 International Conference of Electrical and Electronic Technologies for Automotive
9788887237269
autonomous vehicles; Decentralized MPC; fast MPC; obstacle avoidance; Computer Networks and Communications; Automotive Engineering; Electrical and Electronic Engineering
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11311/1046635
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