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http://dx.doi.org/10.5302/J.ICROS.2012.18.12.1132

Obstacle Parameter Modeling for Model Predictive Control of the Unmanned Vehicle  

Yeu, Jung-Yun (Konkuk University)
Kim, Woo-Hyun (Seoul National University)
Im, Jun-Hyuck (Konkuk University)
Lee, Dal-Ho (Gachon University)
Jee, Gyu-In (Konkuk University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.18, no.12, 2012 , pp. 1132-1138 More about this Journal
Abstract
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.
Keywords
obstacle modeling; MPC; unmanned vehicle; obstacle avoidance; optimization;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
Times Cited By SCOPUS : 0
연도 인용수 순위
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