@inproceedings{eprints4046,
       booktitle = {European Control Conference (ECC), 2013},
           title = {An auto-generated nonlinear MPC algorithm for real-time obstacle avoidance of ground vehicles},
            year = {2013},
       publisher = {IEEE},
           month = {July},
          author = {J. V. Frasch and A. Gray and Mario Zanon and H. J. Ferreau and S. Sager and F. Borrelli and M. Diehl},
           pages = {4136--4141},
        keywords = {C language;collision avoidance;control engineering computing;friction;iterative methods;nonlinear control systems;optimisation;predictive control;road vehicles;traffic engineering computing;vehicle dynamics;wheels;ACADO code generation tool;C code;NMPC algorithms;auto-generated nonlinear MPC algorithm;dynamic optimization;ground vehicles;load transfer;low-friction road surfaces;nonlinear four-wheel vehicle dynamics model;real-time iteration scheme;real-time obstacle avoidance;spatial nonlinear model predictive control;Computational modeling;Load modeling;Mathematical model;Real-time systems;Vehicle dynamics;Vehicles;Wheels},
             url = {http://eprints.imtlucca.it/4046/},
        abstract = {We address the problem of real-time obstacle avoidance on low-friction road surfaces using spatial Nonlinear Model Predictive Control (NMPC). We use a nonlinear four-wheel vehicle dynamics model that includes load transfer. To overcome the computational difficulties we propose to use the ACADO Code Generation tool which generates NMPC algorithms based on the real-time iteration scheme for dynamic optimization. The exported plain C code is tailored to the model dynamics, resulting in faster run-times in effort for real-time feasibility. The advantages of the proposed method are shown through simulation.}
}