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
2017-06-01
945975 byte
Conference paper
Electronic Resource
English
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