relation: http://eprints.imtlucca.it/4021/
title: Model Predictive Control of Autonomous Vehicles
creator: Zanon, Mario
creator: Frasch, Janick V.
creator: Vukov, Milan
creator: Sager, Sebastian
creator: Diehl, Moritz
subject: T Technology (General)
description: 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.
publisher: Springer
date: 2014
type: Book Section
type: PeerReviewed
identifier:   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)  
relation: http://doi.org/10.1007/978-3-319-05371-4_3
relation: doi:10.1007/978-3-319-05371-4_3