NLMPC for Real Time Path Following and Collision Avoidance

Ugo Rosolia; Francesco Braghin; Andrew Alleyne; Edoardo Sabbioni

doi:10.4271/2015-01-0313

NLMPC for Real Time Path Following and Collision Avoidance

Ugo Rosolia, Francesco Braghin, Andrew Alleyne, Edoardo Sabbioni

Research output: Contribution to journal › Article › peer-review

10 Scopus citations

Abstract

This paper presents a nonlinear control approach to achieve good performances in vehicle path following and collision avoidance when the vehicle is driving under cruise highway conditions. Nonlinear model predictive control (NLMPC) is adopted to achieve online trajectory control based on a simplified vehicle model. GMRES/Continuation algorithm is used to solve the online optimization problem. Simulations show that the proposed controller is capable of tracking the desired path as well as avoiding the obstacles.

Original language	English (US)
Pages (from-to)	401-405
Number of pages	5
Journal	SAE International Journal of Passenger Cars - Electronic and Electrical Systems
Volume	8
Issue number	2
DOIs	https://doi.org/10.4271/2015-01-0313
State	Published - Aug 1 2015
Externally published	Yes

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Publisher Copyright:
Copyright © 2015 SAE International.

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abstract = "This paper presents a nonlinear control approach to achieve good performances in vehicle path following and collision avoidance when the vehicle is driving under cruise highway conditions. Nonlinear model predictive control (NLMPC) is adopted to achieve online trajectory control based on a simplified vehicle model. GMRES/Continuation algorithm is used to solve the online optimization problem. Simulations show that the proposed controller is capable of tracking the desired path as well as avoiding the obstacles.",

author = "Ugo Rosolia and Francesco Braghin and Andrew Alleyne and Edoardo Sabbioni",

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AU - Rosolia, Ugo

AU - Braghin, Francesco

AU - Alleyne, Andrew

AU - Sabbioni, Edoardo

PY - 2015/8/1

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N2 - This paper presents a nonlinear control approach to achieve good performances in vehicle path following and collision avoidance when the vehicle is driving under cruise highway conditions. Nonlinear model predictive control (NLMPC) is adopted to achieve online trajectory control based on a simplified vehicle model. GMRES/Continuation algorithm is used to solve the online optimization problem. Simulations show that the proposed controller is capable of tracking the desired path as well as avoiding the obstacles.

AB - This paper presents a nonlinear control approach to achieve good performances in vehicle path following and collision avoidance when the vehicle is driving under cruise highway conditions. Nonlinear model predictive control (NLMPC) is adopted to achieve online trajectory control based on a simplified vehicle model. GMRES/Continuation algorithm is used to solve the online optimization problem. Simulations show that the proposed controller is capable of tracking the desired path as well as avoiding the obstacles.

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JF - SAE International Journal of Passenger Cars - Electronic and Electrical Systems

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ER -

NLMPC for Real Time Path Following and Collision Avoidance

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