An auto-generated nonlinear MPC algorithm for real-time obstacle avoidance of ground vehicles

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)

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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.

Item Type:	Conference or Workshop Item (Paper)
Uncontrolled 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
Subjects:	T Technology > T Technology (General)
Research Area:	Computer Science and Applications
Depositing User:	Mario Zanon
Date Deposited:	12 Mar 2018 09:02
Last Modified:	12 Mar 2018 09:02
URI:	http://eprints.imtlucca.it/id/eprint/4046

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