Obstacle Avoidance of Semi-Trailers Based on Nonlinear Model Predictive Control

Obstacle avoidance of autonomous vehicles based on model predictive control

This paper presents an obstacle avoidance scheme for autonomous vehicles as an active safety procedure in unknown environments. Safe trajectories are generated using the non-linear model predictive framework, in which the simplified dynamics of the vehicle are used to predict the state of the vehicle over the look-ahead horizon. To compensate for the slight dissimilarity between the simplified ...

Constrained Model-based Predictive Control for Obstacle Avoidance

This article describes the use of predictive control for the control of an unmanned aerial vehicle in an unfamiliar three-dimensional environment. The vehicle must reach fixed targets at known positions while avoiding ellipsoid static obstacles that are detected on the way. For obstacle avoidance, constraints are implemented such that the predicted future UAV path does not intersect with the ob...

Threat-based hazard avoidance for semi-autonomous vehicles using nonlinear model predictive control

A Nonlinear Model Predictive Control Algorithm for Obstacle Avoidance in Autonomous Ground Vehicles within Unknown Environments

A nonlinear model predictive control algorithm is developed for obstacle avoidance in high-speed, large-size autonomous ground vehicles (AGVs) that perceive the environment only through information provided by on-board sensors. The mission of the AGV is to move from its initial configuration to the goal configuration safely. The resulting trajectory should be collision-free and the AGV should b...

Hybrid model predictive control of a nonlinear three-tank system based on the proposed compact form of piecewise affine model

In this paper, a predictive control based on the proposed hybrid model is designed to control the fluid height in a three-tank system with nonlinear dynamics whose operating mode depends on the instantaneous amount of system states. The use of nonlinear hybrid model in predictive control leads to a problem of mixed integer nonlinear programming (MINLP) which is very complex and time consuming t...