Model Predictive Control for Autonomous Driving considering Actuator Dynamics

In this paper, we propose a new model predictive control (MPC) formulation for autonomous driving. The novelty of our MPC stems from the following results. Firstly, we adopt an alternating minimization approach wherein linear velocities and angular accelerations are alternately optimized. We show th...

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Hauptverfasser:	Babu, Mithun, Theerthala, Raghu Ram, Singh, Arun Kumar, P, Baladhurgesh B, Gopalakrishnan, Bharath, Krishna, K. Madhava
Format:	Artikel
Sprache:	eng
Schlagworte:	Computer Science - Robotics
Online-Zugang:	Volltext bestellen
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