Focusing on autonomous driving algorithm development, this paper proposes a novel real-time trajectory planner formulated as a Nonlinear Model Predictive Control (NMPC) algorithm. The mathematical formulation of the problem is deeply reported and discussed. The numerical solution of the NMPC problem is the result of a novel genetic algorithm strategy that represents the innovative aspect of the work proposed. The aim of this paper is also to show how genetic algorithm can be a valid approach for motion planning strategies. Numerical results are discussed through simulations that show a reasonable behaviour of the proposed strategy in the presence of moving obstacles as well as in a wide range of road friction conditions. Moreover, a real-time implementation for research purposes is assumed as possible by considering computational time analysis reported.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    MPC trajectory planner for autonomous driving solved by genetic algorithm technique


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

    Published in:

    Vehicle System Dynamics ; 60 , 12 ; 4118-4143


    Publication date :

    2022-12-02


    Size :

    26 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown




    NMPC trajectory planner for urban autonomous driving

    Micheli, F. / Bersani, M. / Arrigoni, S. et al. | Taylor & Francis Verlag | 2023

    Free access

    Firefly algorithm-based nonlinear MPC trajectory planner for autonomous driving

    Inghilterra, Giuseppe / Arrigoni, Stefano / Braghin, Francesco et al. | IEEE | 2018


    Trajectory planner for autonomous driving using bézier curves

    JAFARI TAFTI SAYYED ROUHOLLAH / MEHDI SYED B / PALANISAMY PRAVEEN | European Patent Office | 2019

    Free access

    TRAJECTORY PLANNER FOR AUTONOMOUS DRIVING USING BÉZIER CURVES

    JAFARI TAFTI SAYYED ROUHOLLAH / MEHDI SYED B / PALANISAMY PRAVEEN | European Patent Office | 2018

    Free access

    A SAMPLING-BASED LOCAL TRAJECTORY PLANNER FOR AUTONOMOUS DRIVING ALONG A REFERENCE PATH

    Li, X. / Sun, Z. / Kurt, A. et al. | British Library Conference Proceedings | 2014