Efficient Real-Time Obstacle Avoidance Using Multi-Objective Nonlinear Model Predictive Control and Semi-Smooth Newton Method

Mostafa Emam, Thomas Rottmann, Matthias Gerdts

2024

Abstract

This work discusses the theory and methodology of applying Nonlinear Model Predictive Control (NMPC) in an efficient manner to achieve real-time path planning and obstacle avoidance for autonomous vehicles. First, we explain the optimization problem formulation and the numerical solution approach using a semi-smooth Newton method adapted for nonlinear problems. Then, an MPC path planning problem is described in terms of the vehicle model, the controller design, and the mathematical representation of obstacles as proper system constraints. Afterwards, the developed controller is numerically evaluated for different vehicle models in a simulated environment to dynamically assess its flexibility and real-time performance, which serves as a prerequisite to deferred real-life testing.

Paper Citation

in Harvard Style

Emam M., Rottmann T. and Gerdts M. (2024). Efficient Real-Time Obstacle Avoidance Using Multi-Objective Nonlinear Model Predictive Control and Semi-Smooth Newton Method. In Proceedings of the 10th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS; ISBN 978-989-758-703-0, SciTePress, pages 178-189. DOI: 10.5220/0012738400003702

in Bibtex Style

@conference{vehits24,
author={Mostafa Emam and Thomas Rottmann and Matthias Gerdts},
title={Efficient Real-Time Obstacle Avoidance Using Multi-Objective Nonlinear Model Predictive Control and Semi-Smooth Newton Method},
booktitle={Proceedings of the 10th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS},
year={2024},
pages={178-189},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012738400003702},
isbn={978-989-758-703-0},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 10th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS
TI - Efficient Real-Time Obstacle Avoidance Using Multi-Objective Nonlinear Model Predictive Control and Semi-Smooth Newton Method
SN - 978-989-758-703-0
AU - Emam M.
AU - Rottmann T.
AU - Gerdts M.
PY - 2024
SP - 178
EP - 189
DO - 10.5220/0012738400003702
PB - SciTePress