Nonlinear Model Predictive Control For Autonomous Vehicles ~ jleBooks.com

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

Decentralized Nonlinear Model Predictive Control of Multiple Flying Robots

In this paper, we present a nonlinear model predictive control (NMPC) for multiple autonomous helicopters in a complex.environment. The NMPC provides a framework to solve optimal discrete control problems for a nonlinear system under state constraints and input saturation. Our approach combines stabilization of vehicle dynamics and decentralized trajectory generation, by including a potential f...

Trajectory tracking of autonomous vessels using model predictive control ⋆

Autonomous surface vehicles are with increasing popularity being seen in various applications where automatic control plays an important role. In this paper the problem of twodimensional trajectory tracking for autonomous marine surface vehicles is addressed using Model Predictive Control (MPC). At each time step, the reference trajectories of a vessel are assumed to be known over a finite time...

The Application of Model Predictive Control (MPC) to Fast Systems such as Autonomous Ground Vehicles (AGV)

This paper investigates the application of Model Predictive Control (MPC) to fast systems such as Autonomous Ground Vehicles (AGV) or mobile robots. The control of Autonomous ground vehicles (AGV) is challenging because of nonholonomic constraints, uncertainties, speed, accuracy of controls and the vehicle's terrain of operation. Two nonlinear models: a car-like model and a bicycle model are co...

Model Predictive Control for Coordination of Vehicle Platoons

This paper describes the application of model predictive controllers for decentralized control and coordination of autonomous vehicle platoons. Information about the road trajectory and surrounding vehicles are used to solve a constrained nonlinear optimization problem to plan the system behavior over a finite horizon. System actuation restrictions are taken into consideration in the controller...