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Embedded nonlinear model predictive control for obstacle avoidance using PANOC
Open accessAbstract
We employ the proximal averaged Newton-type method for optimal control (PANOC) to solve obstacle avoidance problems in real time. We introduce a novel modeling framework for obstacle avoidance which allows us to easily account for generic, possibly nonconvex, obstacles involving polytopes, ellipsoids, semialgebraic sets and generic sets described by a set of nonlinear inequalities. PANOC is particularly well-suited for embedded applications as it involves simple steps, its implementation comes with a low memory footprint and its fast convergence meets the tight runtime requirements of fast dynamical systems one encounters in modern mechatronics and robotics. The proposed obstacle avoidance scheme is tested on a lab-scale autonomous vehicle.
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“However, collision avoidance tasks with respect to (w.r.t.) multiple dynamic obstacles are not explicitly taken into account.”
From A Perception-Aware NMPC for Vision-Based Target Tracking and Collision Avoidance with a Multi-Rotor UAV (2022) · cites this paper as [5]
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“Such single control layer architectures with perception and actuation constraints have been investigated also in [5], [6].”
From A Perception-Aware NMPC for Vision-Based Target Tracking and Collision Avoidance with a Multi-Rotor UAV (2022) · cites this paper as [5]
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“In these works, the authors make use of generic dynamic models which can represent a large class of multirotor UAVs [18]. This allows to formulate the problem for both standard coplanar under-actuated vehicles as well as for fully-actuated platforms with tilted propellers characterized by a fixed geometry (i.e., propellers' orientation is fixed).”
From A Perception-Aware NMPC for Vision-Based Target Tracking and Collision Avoidance with a Multi-Rotor UAV (2022) · cites this paper as [5]
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Research works printed but not linked: 25
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Cited by
Sorted by citations
Dmytruk, A., Silano, G., Bicego, D., Licea, D. B., & Saska, M. (2022) · 2022 International Conference on Unmanned Aircraft Systems (ICUAS) · doi:10.1109/icuas54217.2022.9836071 · Cited by 8
“Remark 1 (Optimal Solvers): Note that for optimization solvers whose algorithm is based on a Newton-type method, such as ACADOS [13], PANOC [14], and CasADi [11], only one system linearization and Quadratic Programming (QP) problem are performed per time.”
Method
Metadata
- Authors
- Sathya, A., Sopasakis, P., Van Parys, R., Themelis, A., Pipeleers, G., & Patrinos, P.
- Affiliations
- KU Leuven (BE)
- Venue
- 2018 European Control Conference (ECC)
- Publisher
- IEEE
- Published
- 2018-06
- Volume
- 4
- Pages
- 1523-1528
- OpenAlex
- W2950312551
- Cited by
- 105
- References
- 0
- Citations by year
- 2026: 2 · 2025: 15 · 2024: 11 · 2023: 18 · 2022: 20 · 2021: 16 · 2020: 18 · 2019: 4 · 2018: 1
- FWCI
- 14.64
- Type
- conference paper
- Language
- en
- Open access
- green
- arxiv.org
- Locations
- European Control Conference (ECC) (publishedVersion)
- arXiv (Cornell University) (submittedVersion)
- Institutional Repositories DataBase (IRDB) (submittedVersion)
- Lirias (KU Leuven) (submittedVersion, other-oa)
- Research Portal (Queen's University Belfast) (submittedVersion, other-oa)
- Kyushu University Institutional Repository (QIR) (Kyushu University) (submittedVersion, other-oa)
- arXiv (Cornell University) (cc-by)
- Funders
- Fonds De La Recherche Scientifique - FNRS (EOS Project no 30468160, StG/15/043, 30468160)
- Fonds Wetenschappelijk Onderzoek (30468160, G086518N, G086318N)
- KU Leuven (StG/15/043)
- Vlaamse regering
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Advanced Control Systems Optimization
- Physical Sciences › Engineering › Control and Systems Engineering › Robotic Path Planning Algorithms
- Physical Sciences › Mathematics › Numerical Analysis › Advanced Optimization Algorithms Research
- Keywords
- obstacle avoidance, nonlinear model predictive control, embedded control, real-time optimal control, polytopes, ellipsoids, semialgebraic sets, autonomous vehicles, robotics, mechatronics
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