Optimized adaptive MPC for lateral control of autonomous vehicles
Visualitza/Obre
10.1109/ICCMA54375.2021.9646218
Inclou dades d'ús des de 2022
Cita com:
hdl:2117/362931
Tipus de documentText en actes de congrés
Data publicació2021
EditorInstitute of Electrical and Electronics Engineers (IEEE)
Condicions d'accésAccés obert
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continguts d'aquesta obra estan subjectes a la llicència de Creative Commons
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Reconeixement-NoComercial-SenseObraDerivada 3.0 Espanya
Abstract
Autonomous vehicles are the upcoming solution to most transportation problems such as safety, comfort and efficiency. The steering control is one of the main important tasks in achieving autonomous driving. Model predictive control (MPC) is among the fittest controllers for this task due to its optimal performance and ability to handle constraints. This paper proposes an adaptive MPC controller (AMPC) for the path tracking task, and an improved PSO algorithm for optimising the AMPC parameters. Parameter adaption is realised online using a lookup table approach. The propose AMPC performance is assessed and compared with the classic MPC and the Pure Pursuit controller through simulations
Descripció
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CitacióKebbati, Y. [et al.]. Optimized adaptive MPC for lateral control of autonomous vehicles. A: International Conference on Control, Mechatronics and Automation. "ICCMA 2021: 9th International Conference on Control, Mechatronics and Automation, Luxembourg (Luxembourg), 11-14 november, proceeding book". Institute of Electrical and Electronics Engineers (IEEE), 2021, p. 95-103. DOI 10.1109/ICCMA54375.2021.9646218.
Versió de l'editorhttps://ieeexplore.ieee.org/document/9646218
Fitxers | Descripció | Mida | Format | Visualitza |
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1 ICCMA2021_YK_ ... for_lateral_control_of.pdf | postprint | 6,943Mb | Visualitza/Obre |