IMT Institutional Repository: No conditions. Results ordered -Date Deposited. 2024-03-28T14:36:58ZEPrintshttp://eprints.imtlucca.it/images/logowhite.pnghttp://eprints.imtlucca.it/2018-03-12T09:02:09Z2018-03-12T09:02:09Zhttp://eprints.imtlucca.it/id/eprint/4046This item is in the repository with the URL: http://eprints.imtlucca.it/id/eprint/40462018-03-12T09:02:09ZAn auto-generated nonlinear MPC algorithm for real-time obstacle avoidance of ground vehiclesWe 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.J. V. FraschA. GrayMario Zanonmario.zanon@imtlucca.itH. J. FerreauS. SagerF. BorrelliM. Diehl