Obstacle avoiding path following based on nonlinear model predictive control using artificial variables

Página do item simplificado
dc.creatorIgnacio Sanchez
dc.creatorAntonio Ferramosca
dc.creatorGuilherme Vianna Raffo
dc.creatorAlejandro H. Gonzalez
dc.creatorAgustina D'Jorge
dc.date.accessioned2025-05-09T12:47:08Z
dc.date.accessioned2025-09-09T00:41:50Z
dc.date.available2025-05-09T12:47:08Z
dc.date.issued2019
dc.identifier.doi10.1109/ICAR46387.2019.8981571
dc.identifier.urihttps://hdl.handle.net/1843/82177
dc.languageeng
dc.publisherUniversidade Federal de Minas Gerais
dc.relation.ispartof19th International Conference on Advanced Robotics (ICAR)
dc.rightsAcesso Restrito
dc.subjectSistemas não lineares
dc.subject.otherNonlinear Model , Model Predictive Control , Obstacle Avoidance , Nonlinear Model Predictive Control , Artificial Variables , Cost Function , Autonomous Vehicles , Soft Constraints , Output Space , Input Constraints , Sampling Time , Optimization Problem , Optimal Control , Weight Matrix , Continuous-time , Control Input , Control Problem , Angular Velocity , Penalty Function , Optimal Control Problem , State Constraints , Reference Trajectory , Reference Input , Reference Output , Field Of Robotics , Nonlinear Path , Continuous-time Model , Presence Of Obstacles
dc.titleObstacle avoiding path following based on nonlinear model predictive control using artificial variables
dc.typeArtigo de evento
local.citation.epage259
local.citation.spage254
local.description.resumoThis work presents a model predictive formulation for obstacle avoiding path following control for constrained vehicles. The obstacles are introduced as soft constraints in the value function, in order to maintain the convexity of state and output spaces. In this formulation, the path following and obstacle avoidance tasks may introduce local minima solutions -due to their competing costs- known as corner conditions. In order to address this problem, a heuristic switch in the form of additional decision variables is introduced into the cost function. The proposed solution is based on an extension of Model Predictive Control (MPC) by using Artificial Variables. An additional cost term is included in order to prevent early stops in the path following task. Simulations results considering an autonomous vehicle subject to input constraints are carried out to illustrate the performance of the proposed control strategy.
local.publisher.countryBrasil
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELETRÔNICA
local.publisher.initialsUFMG
local.url.externahttps://ieeexplore.ieee.org/document/8981571

Arquivos

Licença do pacote

Agora exibindo 1 - 1 de 1
Imagem de Miniatura
Nome:
License.txt
Tamanho:
1.99 KB
Formato:
Plain Text
Descrição:
Baixar

Coleções

Artigo de Evento

Logo UFMG