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
收藏
页码：531 / 536
页数：6
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