TY  - CONF
N2  - 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.
KW  - 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
UR  - http://ieeexplore.ieee.org/document/6669836/
TI  - An auto-generated nonlinear MPC algorithm for real-time obstacle avoidance of ground vehicles
M2  - Zurich, Switzerland
ID  - eprints4046
AV  - restricted
T2  - European Control Conference (ECC)
A1  - Frasch, J. V.
A1  - Gray, A.
A1  - Zanon, Mario
A1  - Ferreau, H. J.
A1  - Sager, S.
A1  - Borrelli, F.
A1  - Diehl, M.
SP  - 4136
Y1  - 2013/07//
EP  - 4141
PB  - IEEE
SN  - 978-3-033-03962-9
ER  -