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
Authors
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Carrizosa Rendón, Álvaro
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Puig Cayuela, Vicenç
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Nejjari Akhi-Elarab, Fatiha
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.
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