LTV-MPC Based Path Planning of an Autonomous Vehicle Via Convex Optimization
محل انتشار: بیست و یکمین کنفرانس مهندسی برق ایران
سال انتشار: 1392
نوع سند: مقاله کنفرانسی
زبان: انگلیسی
مشاهده: 1,200
فایل این مقاله در 7 صفحه با فرمت PDF قابل دریافت می باشد
- صدور گواهی نمایه سازی
- من نویسنده این مقاله هستم
استخراج به نرم افزارهای پژوهشی:
شناسه ملی سند علمی:
ICEE21_231
تاریخ نمایه سازی: 27 مرداد 1392
چکیده مقاله:
This paper investigates the stochastic path planning of a vehicle in the presence of some moving obstacles and uncertainty sources. Upon a successive linearization, a Linear-Time Varying Model Predictive Control (LTV-MPC) is used as the planning method. The uncertainty is modelled by a Gaussian distribution and the obstacle avoidance mission is modelled in the form of linear constraints of the LTV-MPC. Finally by applying some algebraic simplification the LTVMPCis converted to a convex optimization problem. There are strong algorithms for solving a convex optimization problem,thus the consequent path planning method can be solved efficiently and has high performance operation that will be obtained.
کلیدواژه ها:
نویسندگان
Mohsen Ahmadi Mousavi
Faculty of New Sciences and Technologies, University of Tehran
Zainabolhoda Heshmati
Faculty of New Sciences and Technologies, University of Tehran