Obstacle Avoidance for Autonomous Ground Vehicles Based on Moving Horizon Optimization

被引：0
|
作者：
Guo, Hongyan [1 ,2 ]
Jia, Rui [2 ]
Yu, Zaitao [2 ]
Chen, Hong [1 ,2 ]
Chen, Zhigang [2 ]
机构：
[1] Jilin Univ, State Key Lab Automot Simulat & Control, Campus NanLing, Changchun, Jilin Province, Peoples R China
[2] Jilin Univ, Dept Control Sci & Engn, Changchun, Jilin Province, Peoples R China
来源：
2014 11TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA) | 2014年
关键词：
Obstacle Avoidance; Moving Horizon Optimization; Vehicle Dynamics; Cruise Control; Differential Flatness; MODEL-PREDICTIVE CONTROL; HIGH-SPEED;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Obstacle avoidance is a critical problem to solve for Unmanned Ground Vehicles (UGVs). The schemes of obstacle avoidance for UGVs are first discussed according to the structured environment road. The braking algorithm is discussed using moving horizon optimization based on differential flatness, where 3 DOF vehicle model is used to follow the planning trajectory for the obstacle avoidance of UGVs. In addition, the cruise control and changing lane control algorithm are given using 2 DOF vehicle model. The optimal problem of avoiding obstacles is formulated in terms of minimizing the bias of the lateral displacement considering the lateral acceleration as constraints. In order to verify the effectiveness of the proposed method, simulation under multi-vehicle environment is carried out.
引用
收藏
页码：1985 / 1991
页数：7
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