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An auto-generated nonlinear MPC algorithm for real-time obstacle avoidance of ground vehicles
Abstract
We address the problem of real-time obstacle avoidance on low-friction road surfaces using spatial Nonlinear Model Predictive Control (NMPC). We use a nonlinear four-wheel vehicle dynamics model that includes load transfer. To overcome the computational difficulties we propose to use the ACADO Code Generation tool which generates NMPC algorithms based on the real-time iteration scheme for dynamic optimization. The exported plain C code is tailored to the model dynamics, resulting in faster run-times in effort for real-time feasibility. The advantages of the proposed method are shown through simulation.
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Cited by
Edge Computing for Autonomous Driving: Opportunities and Challenges
Liu, S., Liu, L., Tang, J., Yu, B., Wang, Y., & Shi, W. (2019) · Proceedings of the IEEE · doi:10.1109/jproc.2019.2915983 · Cited by 778
Optimization‐based autonomous racing of 1:43 scale RC cars
Liniger, A., Domahidi, A., & Morari, M. (2015) · Optimal Control Applications and Methods · doi:10.1002/oca.2123 · Cited by 537
Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function
Zeng, J., Zhang, B., & Sreenath, K. (2021) · 2021 American Control Conference (ACC) · doi:10.23919/acc50511.2021.9483029 · Cited by 390
Embedded nonlinear model predictive control for obstacle avoidance using PANOC
Sathya, A., Sopasakis, P., Van Parys, R., Themelis, A., Pipeleers, G., & Patrinos, P. (2018) · 2018 European Control Conference (ECC) · doi:10.23919/ecc.2018.8550253 · Cited by 105
Metadata
- Authors
- Frasch, J. V., Gray, A., Zanon, M., Ferreau, H. J., Sager, S., Borrelli, F., & Diehl, M.
- Venue
- 2013 European Control Conference (ECC)
- Publisher
- IEEE
- Published
- 2013-07
- Pages
- 4136-4141
- OpenAlex
- W1878563552
- Cited by
- 195
- References
- 0
- FWCI
- 14.62
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Frasch, J. V., Gray, A., Zanon, M., Ferreau, H. J., Sager, S., Borrelli, F., & Diehl, M. (2013). An auto-generated nonlinear MPC algorithm for real-time obstacle avoidance of ground vehicles. 2013 European Control Conference (ECC). https://doi.org/10.23919/ecc.2013.6669836
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