Linear Time Varying MPC Based Path Planning of an Autonomous Vehicle via Convex Optimization

نویسندگان
Ahmadi Mousavi, Mohsen ID 1
Moshiri, Behzad ID 2
Heshmati, Zainabolhoda ID 3

1 Graduate Student of Mechatronics Engineering, Faculty of New Sciences and Technologies, University of Tehran, Tehran, Iran

2 Professor, Control and Intelligent Processing Center of Excellence (CIPCE (, College of Engineering, School of Electrical and Computer Engineering, University of Tehran, Tehran, Iran

3 Assistant Professor, Faculty of New Sciences and Technologies, University of Tehran, Tehran, Iran

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چکیده

In this paper a new method is introduced for path planning of an autonomous vehicle. In this method, the environment is considered cluttered and with some uncertainty sources. Thus, the state of detected object should be estimated using an optimal filter. To do so, the state distribution is assumed Gaussian. Thus ...

کلیدواژه‌ها
Stochastic Path Planning, Path Planning Under Uncertainty, Linear Time-Varying MPC, Quadratic Programming, Error Ellipse, Convex Optimization.