A real-time collision-free maneuver generation algorithm for autonomous driving

DOI10.1016/J.EJCON.2023.100865MaRDI QIDQ6092482zbMATH OpenFDO

Authors Francesco Laneve, Alessandro Rucco, Massimo Bertozzi

Publication date 23 November 2023

Published in European Journal of Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/J.EJCON.2023.100865

zbMATH Keywords

autonomous drivingcollision avoidancetrajectory optimization

Mathematics Subject Classification ID

Nonlinear programming (90C30) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• \(\mathbb{GPOPS}-\mathbb{II}\): a MATLAB software for solving multiple-phase optimal control problems using \(hp\)-adaptive Gaussian quadrature collocation methods and sparse nonlinear programming
• Fast Direct Multiple Shooting Algorithms for Optimal Robot Control
• FORCES NLP: an efficient implementation of interior-point methods for multistage nonlinear nonconvex programs
• Performance limitations in reference tracking and path following for nonlinear systems

Cited in

(2)

• Vehicle reference generator for collision-free trajectories in hazardous maneuvers
• An automated driving strategy generating method based on WGAIL-DDPG

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