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Model Predictive Control of Autonomous Vehicles

Zanon, Mario and Frasch, Janick V. and Vukov, Milan and Sager, Sebastian and Diehl, Moritz Model Predictive Control of Autonomous Vehicles. In: Optimization and Optimal Control in Automotive Systems. Lecture Notes in Control and Information Sciences (455). Springer, pp. 41-57. ISBN 978-3-319-05371-4 (2014)

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The control of autonomous vehicles is a challenging task that requires advanced control schemes. Nonlinear Model Predictive Control (NMPC) and Moving Horizon Estimation (MHE) are optimization-based control and estimation techniques that are able to deal with highly nonlinear, constrained, unstable and fast dynamic systems. In this chapter, these techniques are detailed, a descriptive nonlinear model is derived and the performance of the proposed control scheme is demonstrated in simulations of an obstacle avoidance scenario on a low-fricion icy road.

Item Type: Book Section
Identification Number: 10.1007/978-3-319-05371-4_3
Subjects: T Technology > T Technology (General)
Research Area: Computer Science and Applications
Depositing User: Mario Zanon
Date Deposited: 12 Mar 2018 10:30
Last Modified: 12 Mar 2018 10:30
URI: http://eprints.imtlucca.it/id/eprint/4021

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