Obstacle Avoidance Path Planning based on Output Constrained Model Predictive Control

Ji Chang Kim, Dong Sung Pae, Myo Taeg Lim

Research output: Contribution to journalArticle

Abstract

Image processing and control technologies have been widely studied and autonomous vehicles have become an active research area. For autonomous driving, it is essential to generate a safe obstacle avoidance path considering the surrounding environment. This paper devised an algorithm based on a real-time output constrained model predictive control for obstacle avoidance path planning in high speed driving situations. The proposed algorithm was compared with the normal model predictive control algorithm by simulation, including operation times to verify robustness for high speed driving situations. We used the ISO 2631-1 comfort level standard to quantify driver comfort fo r both cases.

Original languageEnglish
JournalInternational Journal of Control, Automation and Systems
DOIs
Publication statusPublished - 2019 Jan 1

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Model predictive control
Collision avoidance
Motion planning
Image processing

Keywords

  • Comfort level
  • model predictive control
  • obstacle avoidance
  • path planning
  • vehicle dynamics

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications

Cite this

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