%0 Conference Paper
%A Frasch, J. V.
%A Gray, A.
%A Zanon, Mario
%A Ferreau, H. J.
%A Sager, S.
%A Borrelli, F.
%A Diehl, M.
%B European Control Conference (ECC)
%C Zurich, Switzerland
%D 2013
%F eprints:4046
%I IEEE
%K 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
%P 4136-4141
%T An auto-generated nonlinear MPC algorithm for real-time obstacle avoidance of ground vehicles
%U http://eprints.imtlucca.it/4046/
%X 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.