OPTIPLAN: A Matlab Toolbox for Model Predictive Control with Obstacle Avoidance

被引：14

作者：

Janecek, Filip ^{[1
]}

Klauco, Martin ^{[1
]}

Kaluz, Martin ^{[1
]}

Kvasnica, Michal ^{[1
]}

机构：

[1] Slovak Univ Technol Bratislava, Bratislava, Slovakia

来源：

IFAC PAPERSONLINE | 2017年 / 50卷 / 01期

关键词：

collision avoidance; autonomous vehicles; model predictive control;

D O I：

10.1016/j.ifacol.2017.08.057

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper introduces OPTIPLAN - a Matlab-based toolbox for formulating, solving, and simulating model predictive controllers (MPC) with embedded obstacle avoidance functionality. The toolbox offers a simple, yet powerful user interface that allows control researchers and practitioners to set up even complex control problems with just a few lines of code. OPTIPLAN fully automates tedious mathematical and technical details and let the user concentrate on the problem formulation. It features a rich set of tools to perform closed loop simulations with MPC controllers and to visualize the results in an appealing way. From a theoretical point of view, OPTIPLAN tackles non-convex obstacle avoidance constraints in two ways: either by using binary variables or by resorting to suboptimal, but convex, time-varying constraints. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

引用

页码：531 / 536

页数：6