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Open AccessArticle

Predictive Path Following and Collision Avoidance of Autonomous Connected Vehicles

1
The Institute of Cartography and Geoinformatics, University of Hannover, D-30167 Hannover, Germany
2
Institute of Geodesy, University of Hannover, D-30167 Hannover, Germany
*
Author to whom correspondence should be addressed.
Algorithms 2020, 13(3), 52; https://doi.org/10.3390/a13030052
Received: 20 January 2020 / Revised: 25 February 2020 / Accepted: 26 February 2020 / Published: 28 February 2020
(This article belongs to the Special Issue Algorithms for Reliable Estimation, Identification and Control)
This paper considers nonlinear model predictive control for simultaneous path-following and collision avoidance of connected autonomous vehicles. For each agent, a nonlinear bicycle model is used to predict a sequence of the states and then optimize them with respect to a sequence of control inputs. The objective function of the optimal control problem is to follow the planned path which is represented by a Bézier curve. In order to achieve collision avoidance among the networked vehicles, a geometric shape must be selected to represent the vehicle geometry. In this paper, an elliptic disk is selected for that as it represents the geometry of the vehicle better than the traditional circular disk. A separation condition between each pair of elliptic disks is formulated as time-varying state constraints for the optimization problem. Driving corridors are assumed to be also Bézier curves, which could be obtained from digital maps, and are reformulated to suit the controller algorithm. The algorithm is validated using MATLAB simulation with the aid of ACADO toolkit. View Full-Text
Keywords: nonlinear model predictive control; autonomous driving; path following; optimization nonlinear model predictive control; autonomous driving; path following; optimization
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MDPI and ACS Style

Abdelaal, M.; Schön, S. Predictive Path Following and Collision Avoidance of Autonomous Connected Vehicles. Algorithms 2020, 13, 52. https://doi.org/10.3390/a13030052

AMA Style

Abdelaal M, Schön S. Predictive Path Following and Collision Avoidance of Autonomous Connected Vehicles. Algorithms. 2020; 13(3):52. https://doi.org/10.3390/a13030052

Chicago/Turabian Style

Abdelaal, Mohamed; Schön, Steffen. 2020. "Predictive Path Following and Collision Avoidance of Autonomous Connected Vehicles" Algorithms 13, no. 3: 52. https://doi.org/10.3390/a13030052

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