Dynamic Trajectory Planning and Tracking for Autonomous Vehicle With Obstacle Avoidance Based on Model Predictive Control
In this study, an obstacle avoidance controller based on nonlinear model predictive control is designed in autonomous vehicle navigation. The reference trajectory is predefined using a sigmoid function in accordance with road conditions. When obstacles suddenly appear on a predefined trajectory, the...
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| Format: | Article |
| Language: | English |
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IEEE
2019-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/8835033/ |
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| author | Shaosong Li Zheng Li Zhixin Yu Bangcheng Zhang Niaona Zhang |
| author_facet | Shaosong Li Zheng Li Zhixin Yu Bangcheng Zhang Niaona Zhang |
| author_sort | Shaosong Li |
| collection | DOAJ |
| description | In this study, an obstacle avoidance controller based on nonlinear model predictive control is designed in autonomous vehicle navigation. The reference trajectory is predefined using a sigmoid function in accordance with road conditions. When obstacles suddenly appear on a predefined trajectory, the reference trajectory should be adjusted dynamically. For dynamic obstacles, a moving trend function is constructed to predict the obstacle position variances in the predictive horizon. Furthermore, a risk index is constructed and introduced into the cost function to realize collision avoidance by combining the relative position relationship between vehicle and obstacles in the predictive horizon. Meanwhile, lateral acceleration constraint is also considered to ensure vehicle stability. Finally, trajectory dynamic planning and tracking are integrated into a single-level model predictive controller. Simulation tests reveal that the designed controller can ensure real-time trajectory tracking and collision avoidance. |
| format | Article |
| id | doaj-art-ee552ee876974c1cb9c348c15fc10ba6 |
| institution | Kabale University |
| issn | 2169-3536 |
| language | English |
| publishDate | 2019-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj-art-ee552ee876974c1cb9c348c15fc10ba62025-01-10T00:00:40ZengIEEEIEEE Access2169-35362019-01-01713207413208610.1109/ACCESS.2019.29407588835033Dynamic Trajectory Planning and Tracking for Autonomous Vehicle With Obstacle Avoidance Based on Model Predictive ControlShaosong Li0https://orcid.org/0000-0002-2247-7534Zheng Li1Zhixin Yu2Bangcheng Zhang3Niaona Zhang4School of Mechatronic Engineering, Changchun University of Technology, Changchun, ChinaSchool of Mechatronic Engineering, Changchun University of Technology, Changchun, ChinaSchool of Mechatronic Engineering, Changchun University of Technology, Changchun, ChinaSchool of Mechatronic Engineering, Changchun University of Technology, Changchun, ChinaSchool of Electrical and Electronic Engineering, Changchun University of Technology, Changchun, ChinaIn this study, an obstacle avoidance controller based on nonlinear model predictive control is designed in autonomous vehicle navigation. The reference trajectory is predefined using a sigmoid function in accordance with road conditions. When obstacles suddenly appear on a predefined trajectory, the reference trajectory should be adjusted dynamically. For dynamic obstacles, a moving trend function is constructed to predict the obstacle position variances in the predictive horizon. Furthermore, a risk index is constructed and introduced into the cost function to realize collision avoidance by combining the relative position relationship between vehicle and obstacles in the predictive horizon. Meanwhile, lateral acceleration constraint is also considered to ensure vehicle stability. Finally, trajectory dynamic planning and tracking are integrated into a single-level model predictive controller. Simulation tests reveal that the designed controller can ensure real-time trajectory tracking and collision avoidance.https://ieeexplore.ieee.org/document/8835033/Autonomous vehicledynamic obstaclesmoving trend functiondynamic planning and trackingsingle-level controller |
| spellingShingle | Shaosong Li Zheng Li Zhixin Yu Bangcheng Zhang Niaona Zhang Dynamic Trajectory Planning and Tracking for Autonomous Vehicle With Obstacle Avoidance Based on Model Predictive Control IEEE Access Autonomous vehicle dynamic obstacles moving trend function dynamic planning and tracking single-level controller |
| title | Dynamic Trajectory Planning and Tracking for Autonomous Vehicle With Obstacle Avoidance Based on Model Predictive Control |
| title_full | Dynamic Trajectory Planning and Tracking for Autonomous Vehicle With Obstacle Avoidance Based on Model Predictive Control |
| title_fullStr | Dynamic Trajectory Planning and Tracking for Autonomous Vehicle With Obstacle Avoidance Based on Model Predictive Control |
| title_full_unstemmed | Dynamic Trajectory Planning and Tracking for Autonomous Vehicle With Obstacle Avoidance Based on Model Predictive Control |
| title_short | Dynamic Trajectory Planning and Tracking for Autonomous Vehicle With Obstacle Avoidance Based on Model Predictive Control |
| title_sort | dynamic trajectory planning and tracking for autonomous vehicle with obstacle avoidance based on model predictive control |
| topic | Autonomous vehicle dynamic obstacles moving trend function dynamic planning and tracking single-level controller |
| url | https://ieeexplore.ieee.org/document/8835033/ |
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