Zanon, Mario and Frasch, Janick V. and Vukov, Milan and Sager, Sebastian and Diehl, Moritz Model Predictive Control of Autonomous Vehicles. In: Optimization and Optimal Control in Automotive Systems. Lecture Notes in Control and Information Sciences (455). Springer, pp. 41-57. ISBN 978-3-319-05371-4 (2014)
Full text not available from this repository.Abstract
The control of autonomous vehicles is a challenging task that requires advanced control schemes. Nonlinear Model Predictive Control (NMPC) and Moving Horizon Estimation (MHE) are optimization-based control and estimation techniques that are able to deal with highly nonlinear, constrained, unstable and fast dynamic systems. In this chapter, these techniques are detailed, a descriptive nonlinear model is derived and the performance of the proposed control scheme is demonstrated in simulations of an obstacle avoidance scenario on a low-fricion icy road.
| Item Type: | Book Section |
|---|---|
| Identification Number: | https://doi.org/10.1007/978-3-319-05371-4_3 |
| Subjects: | T Technology > T Technology (General) |
| Research Area: | Computer Science and Applications |
| Depositing User: | Mario Zanon |
| Date Deposited: | 12 Mar 2018 10:30 |
| Last Modified: | 12 Mar 2018 10:30 |
| URI: | http://eprints.imtlucca.it/id/eprint/4021 |
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