Obstacle avoidance path planning algorithm based on model predictive control

Ji Chang Kim, Dong Sung Pae, Myo Taeg Lim

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In recent years, as image processing and control technology have been studied extensively, autonomous vehicle becomes an active research area. For autonomous driving, it is essential to generate a safe obstacle avoidance path considering the surrounding environments. In this paper, an algorithm based on real-time output constraints model predictive control (RCMPC) is devised for obstacle avoidance path planning in the high-speed driving situations. Four simulations were conducted to compare with the normal model predictive control (NMPC) algorithm. The MPC computation times were also compared to verify robustness of the algorithm in the high-speed driving situations. The ISO 2631-1 comfort level standard was used to quantify driver’s comfort and to compare with the results. The results of the RCMPC resulted in faster computation times than that of the NMPC and showed a high comfort level scores.

Original languageEnglish
Title of host publicationInternational Conference on Control, Automation and Systems
PublisherIEEE Computer Society
Pages141-143
Number of pages3
Volume2018-October
ISBN (Electronic)9788993215151
Publication statusPublished - 2018 Dec 10
Event18th International Conference on Control, Automation and Systems, ICCAS 2018 - PyeongChang, Korea, Republic of
Duration: 2018 Oct 172018 Oct 20

Other

Other18th International Conference on Control, Automation and Systems, ICCAS 2018
CountryKorea, Republic of
CityPyeongChang
Period18/10/1718/10/20

Fingerprint

Model predictive control
Collision avoidance
Motion planning
Image processing

Keywords

  • Comfort Level
  • Model Predictive Control
  • Obstacle Avoidance
  • Path Planning

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Kim, J. C., Pae, D. S., & Lim, M. T. (2018). Obstacle avoidance path planning algorithm based on model predictive control. In International Conference on Control, Automation and Systems (Vol. 2018-October, pp. 141-143). [8571463] IEEE Computer Society.

Obstacle avoidance path planning algorithm based on model predictive control. / Kim, Ji Chang; Pae, Dong Sung; Lim, Myo Taeg.

International Conference on Control, Automation and Systems. Vol. 2018-October IEEE Computer Society, 2018. p. 141-143 8571463.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Kim, JC, Pae, DS & Lim, MT 2018, Obstacle avoidance path planning algorithm based on model predictive control. in International Conference on Control, Automation and Systems. vol. 2018-October, 8571463, IEEE Computer Society, pp. 141-143, 18th International Conference on Control, Automation and Systems, ICCAS 2018, PyeongChang, Korea, Republic of, 18/10/17.
Kim JC, Pae DS, Lim MT. Obstacle avoidance path planning algorithm based on model predictive control. In International Conference on Control, Automation and Systems. Vol. 2018-October. IEEE Computer Society. 2018. p. 141-143. 8571463
Kim, Ji Chang ; Pae, Dong Sung ; Lim, Myo Taeg. / Obstacle avoidance path planning algorithm based on model predictive control. International Conference on Control, Automation and Systems. Vol. 2018-October IEEE Computer Society, 2018. pp. 141-143
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