eprintid: 4046
rev_number: 8
eprint_status: archive
userid: 87
dir: disk0/00/00/40/46
datestamp: 2018-03-12 09:02:09
lastmod: 2018-03-12 09:02:09
status_changed: 2018-03-12 09:02:09
type: conference_item
metadata_visibility: show
creators_name: Frasch, J. V.
creators_name: Gray, A.
creators_name: Zanon, Mario
creators_name: Ferreau, H. J.
creators_name: Sager, S.
creators_name: Borrelli, F.
creators_name: Diehl, M.
creators_id: 
creators_id: 
creators_id: mario.zanon@imtlucca.it
creators_id: 
creators_id: 
creators_id: 
creators_id: 
title: An auto-generated nonlinear MPC algorithm for real-time obstacle avoidance of ground vehicles
ispublished: pub
subjects: T1
divisions: CSA
full_text_status: restricted
pres_type: paper
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
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.
date: 2013-07
date_type: published
publisher: IEEE
pagerange: 4136-4141
event_title: European Control Conference (ECC)
event_location: Zurich, Switzerland
event_dates: July 17-19, 2013
event_type: conference
refereed: TRUE
isbn: 978-3-033-03962-9
book_title: European Control Conference (ECC), 2013
official_url: http://ieeexplore.ieee.org/document/6669836/
citation:   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)  
document_url: http://eprints.imtlucca.it/4046/1/06669836.pdf