Publication

Zonotopic-tube-based LPV motion planner for safety coordination of autonomous vehicles

Conference Article

Conference

IFAC World Congress (IFAC)

Edition

22nd

Pages

2220-2225

Doc link

https://doi.org/10.1016/j.ifacol.2023.10.1130

File

Download the digital copy of the doc pdf document

Authors

Abstract

The paper proposes an optimization-based solution for collision avoidance in autonomous vehicles using an online motion planner that considers moving obstacles. To reduce computational complexity, the nonlinear optimization structure is translated into a quadratic programming (QP) formulation. The solution includes the use of LPV matrices in the vehicle dynamic constraints and set propagation to guarantee safety conditions in the reachable states.

Categories

optimal control, optimisation, predictive control.

Author keywords

Autonomous vehicles, Motion planning, Robust Planner, Tubes, Safety, Coordination

Scientific reference

A. Carrizosa, V. Puig and F. Nejjari. Zonotopic-tube-based LPV motion planner for safety coordination of autonomous vehicles, 22nd IFAC World Congress, 2023, Yokohama, pp. 2220-2225.