The control of autonomous vehicles is a challenging task that requires advanced control schemes. Nonlinear Model Predictive Control (NMPC) and Moving Horizon Estimation (MHE) are optimization-based control and estimation techniques that are able to deal with highly nonlinear, constrained, unstable and fast dynamic systems. In this chapter, these techniques are detailed, a descriptive nonlinear model is derived and the performance of the proposed control scheme is demonstrated in simulations of an obstacle avoidance scenario on a low-fricion icy road.


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    Titel :

    Model Predictive Control of Autonomous Vehicles


    Beteiligte:
    Zanon, Mario (Autor:in) / Frasch, Janick V. (Autor:in) / Vukov, Milan (Autor:in) / Sager, Sebastian (Autor:in) / Diehl, Moritz (Autor:in)


    Erscheinungsdatum :

    2014


    Format / Umfang :

    17 Seiten





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Print


    Sprache :

    Englisch




    REFERENCE AWARE MODEL PREDICTIVE CONTROL FOR AUTONOMOUS VEHICLES

    Pereira, Gonçalo Collares / Lima, Pedro F. / Wahlberg, Bo et al. | British Library Conference Proceedings | 2020


    Path Planning for Autonomous Vehicles Using Model Predictive Control

    Liu, Chang / Lee, Seungho / Varnhagen, Scott et al. | British Library Conference Proceedings | 2017


    Path planning for autonomous vehicles using model predictive control

    Liu, Chang / Lee, Seungho / Varnhagen, Scott et al. | IEEE | 2017



    Obstacle avoidance of autonomous vehicles based on model predictive control

    Park, J-M / Kim, D-W / Yoon, Y-S et al. | SAGE Publications | 2009