Obstacle parameter modeling for model predictive control of the unmanned vehicle

被引：2

作者：

Yeu, Jung-Yun ^{[1
]}

Kim, Woo-Hyun ^{[2
]}

Im, Jun-Hyuck ^{[1
]}

Lee, Dal-Ho ^{[3
]}

Jee, Gyu-In ^{[1
]}

机构：

[1] Konkuk University, Korea, Republic of

[2] Seoul National University, Korea, Republic of

[3] Gachon University, Korea, Republic of

来源：

Journal of Institute of Control, Robotics and Systems | 2012年 / 18卷 / 12期

关键词：

MPC; Obstacle avoidance; Obstacle modeling; Optimization; Unmanned vehicle;

D O I：

10.5302/J.ICROS.2012.18.12.1132

中图分类号：

学科分类号：

摘要：

The MPC (Model Predictive Control) is one of the techniques that can be used to control an unmanned vehicle. It predicts the future vehicle trajectory using the dynamic characteristic of the vehicle and generate the control value to track the reference path. If some obstacles are detected on the reference paths, the MPC can generate control value to avoid the obstacles imposing the inequality constraints on the MPC cost function. In this paper, we propose an obstacle modeling algorithm for MPC with inequality constraints for obstacle avoidance and a method to set selective constraint on the MPC for stable obstacle avoidance. Simulations with the field test data show successful obstacle avoidance and way point tracking performance. © ICROS 2012.

引用

页码：1132 / 1138

页数：6

共 8 条

[1]

Kim W.H., Guidance of the autonomous land vehicle system utilizing a model predictive control, (2011)

[2]

Yeu J.Y., Kim W.H., Im J.H., Jee G.I., Obstacle avoidance for the unmanned vehicle using model predictive control with quadratic constraint, Proc. of 2012 27th ICROS Annual Conference (in Korean), Seoul, Korea, pp. 46-47, (2012)

[3]

An S.W., A study on primal-dual interior-point method, Journal of the Korean Society of Marine Engineers (in Korean), 28, 5, pp. 801-810, (2004)

[4]

Boyd S., Vandenberghe L., Convex optimization, (2009)

[5]

Kumar P., Alper Yildirim E., Minimum volume enclosing ellipsoids and core sets, Journal of Optimization Theory and Applications, 126, 1, pp. 1-21, (2005)

[6]

Lee M.J., Choi Y.S., GA-based K-means clustering algorithm, Korean Society For Internet Information (in Korean), 7, 2, pp. 213-216, (2006)

[7]

Jung B.J., Park J.H., Kim T.Y., Kim D.Y., Moon H.P., Lane marking detection of mobile robot with single laser rangefinder, Journal of Institute of Control, Robotics and Systems (in Korean), 17, 6, pp. 521-525, (2011)

[8]

Han H.M., Park J.T., Song J.B., Grid map building based on reliability model of sonar data, Journal of Institute of Control, Robotics and Systems (in Korean), 17, 12, pp. 1219-1226, (2011)

← 1 →