Embedded nonlinear model predictive control for obstacle avoidance using PANOC
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Publication:6317664
DOI10.23919/ECC.2018.8550253arXiv1904.10546MaRDI QIDQ6317664FDOQ6317664
Authors: Ajay Sathya, Pantelis Sopasakis, Ruben van Parys, Andreas Themelis, Goele Pipeleers, Panagiotis Patrinos 
Publication date: 23 April 2019
Abstract: We employ the proximal averaged Newton-type method for optimal control (PANOC) to solve obstacle avoidance problems in real time. We introduce a novel modeling framework for obstacle avoidance which allows us to easily account for generic, possibly nonconvex, obstacles involving polytopes, ellipsoids, semialgebraic sets and generic sets described by a set of nonlinear inequalities. PANOC is particularly well-suited for embedded applications as it involves simple steps, its implementation comes with a low memory footprint and its fast convergence meets the tight runtime requirements of fast dynamical systems one encounters in modern mechatronics and robotics. The proposed obstacle avoidance scheme is tested on a lab-scale autonomous vehicle.
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