relation: http://eprints.imtlucca.it/4046/
title: An auto-generated nonlinear MPC algorithm for real-time obstacle avoidance of ground vehicles
creator: Frasch, J. V.
creator: Gray, A.
creator: Zanon, Mario
creator: Ferreau, H. J.
creator: Sager, S.
creator: Borrelli, F.
creator: Diehl, M.
subject: T Technology (General)
description: 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.
publisher: IEEE
date: 2013-07
type: Conference or Workshop Item
type: PeerReviewed
format: application/pdf
language: en
identifier: http://eprints.imtlucca.it/4046/1/06669836.pdf
identifier:   Frasch, J. V. and Gray, A. and Zanon, Mario and Ferreau, H. J. and Sager, S. and Borrelli, F. and Diehl, M.  An auto-generated nonlinear MPC algorithm for real-time obstacle avoidance of ground vehicles.  In: European Control Conference (ECC), July 17-19, 2013, Zurich, Switzerland pp. 4136-4141.  ISBN 978-3-033-03962-9.      (2013)  
relation: http://ieeexplore.ieee.org/document/6669836/