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MPC Algorithm with Combined Speed and Steering Control for Obstacle Avoidance in Autonomous Ground Vehicles.
| 题名： | MPC Algorithm with Combined Speed and Steering Control for Obstacle Avoidance in Autonomous Ground Vehicles. |
| 作者： | Ersal, T.; Jayakumar, P.; Liu, J.; Stein, J. L. |
| 关键词： | Agvs(autonomous Ground Vehicles); Algorithms; Autonomous Navigation; Collision Avoidance; Detectors; Ground Speed; Ground Vehicles; Mpc(model Predictive Control); Optimization; Phase Control; Simulati |
| 摘要： | This article presents a model predictive control based obstacle avoidance algorithm for autonomous ground vehicles in unstructured environments. The novelty of the algorithm is the simultaneous optimization of speed and steering without a priori knowledge about the obstacles. Obstacles are detected using a planar LIDAR sensor and a multi-phase optimal control problem is formulated to optimize the speed and steering commands within the detection range. Acceleration capability of the vehicle as a function of speed, and stability and handling concerns such as tire lift-off are taken into account as constraints in the optimization problem, whereas the cost function is formulated to navigate the vehicle as quickly as possible with smooth control commands. Thus, a safe and quick navigation is enabled without the need for a preloaded map of the environment. Simulation results show that the proposed algorithm is capable of navigating the vehicle through obstacle fields that cannot be cleared with steering control alone. |
| 报告类型： | 科技报告 |
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