Trajectory planning and control for autonomous vehicles: a ``fast data-aided NMPC approach

DOI10.1016/J.EJCON.2023.100857MaRDI QIDQ6092469zbMATH OpenFDO

Authors Mattia Boggio, Carlo Novara, Michele Taragna

Publication date 23 November 2023

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

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1016/J.EJCON.2023.100857

zbMATH Keywords

autonomous systemscomputational methodspredictive control for nonlinear systems

Mathematics Subject Classification ID

Computational methods for problems pertaining to systems and control theory (93-08) Model predictive control (93B45) Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• A Comparison of Three Methods for Selecting Values of Input Variables in the Analysis of Output from a Computer Code
• A continuation/GMRES method for fast computation of nonlinear receding horizon control
• A receding-horizon regulator for nonlinear systems and a neural approximation
• A robust constrained model predictive control scheme for norm-bounded uncertain systems with partial state measurements
• Constrained model predictive control: Stability and optimality
• Constrained optimal feedback control of systems governed by large differential algebraic equations
• Fast Direct Multiple Shooting Algorithms for Optimal Robot Control
• Set membership identification of nonlinear systems
• The advanced-step NMPC controller: Optimality, stability and robustness

Cited in

(5)

• An NMPC Approach to Avoid Weakly Observable Trajectories
• scientific article; zbMATH DE number 7338792 (Why is no real title available?)
• Frenet-Cartesian model representations for automotive obstacle avoidance within nonlinear MPC
• Continuous-time nonlinear model predictive control based on Pontryagin Minimum Principle and penalty functions
• Data fusion and path-following controllers comparison for autonomous vehicles

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