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 formulation stems from the following new results. Firstly, we adopt an alternating minimization approach wherein linear velocities and angular accelerations are alternately optimized...

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Veröffentlicht in:	arXiv.org 2018-03
Hauptverfasser:	Babu, Mithun, Raghu Ram Theerthala, Singh, Arun Kumar, Gopalakrishnan, Bharath, K Madhava Kirshna
Format:	Artikel
Sprache:	eng
Schlagworte:	Actuators Angular velocity Collision avoidance Collision dynamics Computer simulation Constraint modelling Lane changing Maneuvers Nonlinear dynamics Optimization Predictive control Time dependence
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