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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    Title :

    Decentralized fast-MPC path planner for automated vehicles


    Contributors:
    Arrigoni, S. (author) / Braghin, F. (author) / Cheli, F. (author)


    Publication date :

    2017-06-01


    Size :

    945975 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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