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.


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    Titel :

    Decentralized fast-MPC path planner for automated vehicles


    Beteiligte:
    Arrigoni, S. (Autor:in) / Braghin, F. (Autor:in) / Cheli, F. (Autor:in)


    Erscheinungsdatum :

    01.06.2017


    Format / Umfang :

    945975 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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