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.
MPC trajectory planner for autonomous driving solved by genetic algorithm technique
Vehicle System Dynamics ; 60 , 12 ; 4118-4143
2022-12-02
26 pages
Article (Journal)
Electronic Resource
Unknown
Trajectory planner for autonomous driving using bézier curves
European Patent Office | 2019
|TRAJECTORY PLANNER FOR AUTONOMOUS DRIVING USING BÉZIER CURVES
European Patent Office | 2018
|A SAMPLING-BASED LOCAL TRAJECTORY PLANNER FOR AUTONOMOUS DRIVING ALONG A REFERENCE PATH
British Library Conference Proceedings | 2014
|