eprintid: 4021
rev_number: 7
eprint_status: archive
userid: 87
dir: disk0/00/00/40/21
datestamp: 2018-03-12 10:30:32
lastmod: 2018-03-12 10:30:32
status_changed: 2018-03-12 10:30:32
type: book_section
metadata_visibility: show
creators_name: Zanon, Mario
creators_name: Frasch, Janick V.
creators_name: Vukov, Milan
creators_name: Sager, Sebastian
creators_name: Diehl, Moritz
creators_id: mario.zanon@imtlucca.it
creators_id: 
creators_id: 
creators_id: 
creators_id: 
title: Model Predictive Control of Autonomous Vehicles
ispublished: pub
subjects: T1
divisions: CSA
full_text_status: none
abstract: 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.
date: 2014
date_type: published
series: Lecture Notes in Control and Information Sciences
number: 455
publisher: Springer
pagerange: 41-57
id_number: doi:10.1007/978-3-319-05371-4_3
refereed: TRUE
isbn: 978-3-319-05371-4
issn: 0170-8643
book_title: Optimization and Optimal Control in Automotive Systems
official_url: http://doi.org/10.1007/978-3-319-05371-4_3
citation:   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)