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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： | Liu, J.; Jayakumar, P.; Stein, J. L.; Ersal, T. |
| 关键词： | AUTONOMOUS NAVIGATION, GROUND VEHICLES, ALGORITHMS, COLLISION AVOIDANCE, DETECTORS, GROUND SPEED, OPTIMIZATION, PHASE CONTROL, SIMULATION, STEERING, AGVS(AUTONOMOUS GROUND VEHICLES), MPC(MODEL PREDICTIVE CONTROL), OCP(OPTIMAL CONTROL PROBLEM), LIDAR SENSOR |
| 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. |
| 总页数： | Liu, J.; Jayakumar, P.; Stein, J. L.; Ersal, T. |
| 报告类型： | 科技报告 |
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