Obstacle Avoidance Path Planning based on Output Constrained Model Predictive Control
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kim, Ji-Chang | - |
dc.contributor.author | Pae, Dong-Sung | - |
dc.contributor.author | Lim, Myo-Taeg | - |
dc.date.accessioned | 2021-09-01T01:24:43Z | - |
dc.date.available | 2021-09-01T01:24:43Z | - |
dc.date.created | 2021-06-18 | - |
dc.date.issued | 2019-11 | - |
dc.identifier.issn | 1598-6446 | - |
dc.identifier.uri | https://scholar.korea.ac.kr/handle/2021.sw.korea/62074 | - |
dc.description.abstract | Image processing and control technologies have been widely studied and autonomous vehicles have become an active research area. For autonomous driving, it is essential to generate a safe obstacle avoidance path considering the surrounding environment. This paper devised an algorithm based on a real-time output constrained model predictive control for obstacle avoidance path planning in high speed driving situations. The proposed algorithm was compared with the normal model predictive control algorithm by simulation, including operation times to verify robustness for high speed driving situations. We used the ISO 2631-1 comfort level standard to quantify driver comfort fo r both cases. | - |
dc.language | English | - |
dc.language.iso | en | - |
dc.publisher | INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS | - |
dc.subject | AUTONOMOUS VEHICLES | - |
dc.subject | TRACKING | - |
dc.subject | BODY | - |
dc.title | Obstacle Avoidance Path Planning based on Output Constrained Model Predictive Control | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Lim, Myo-Taeg | - |
dc.identifier.doi | 10.1007/s12555-019-9091-y | - |
dc.identifier.scopusid | 2-s2.0-85069932189 | - |
dc.identifier.wosid | 000495100000014 | - |
dc.identifier.bibliographicCitation | INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, v.17, no.11, pp.2850 - 2861 | - |
dc.relation.isPartOf | INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS | - |
dc.citation.title | INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS | - |
dc.citation.volume | 17 | - |
dc.citation.number | 11 | - |
dc.citation.startPage | 2850 | - |
dc.citation.endPage | 2861 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.identifier.kciid | ART002517463 | - |
dc.description.journalClass | 1 | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.description.journalRegisteredClass | kci | - |
dc.relation.journalResearchArea | Automation & Control Systems | - |
dc.relation.journalWebOfScienceCategory | Automation & Control Systems | - |
dc.subject.keywordPlus | AUTONOMOUS VEHICLES | - |
dc.subject.keywordPlus | TRACKING | - |
dc.subject.keywordPlus | BODY | - |
dc.subject.keywordAuthor | Comfort level | - |
dc.subject.keywordAuthor | model predictive control | - |
dc.subject.keywordAuthor | obstacle avoidance | - |
dc.subject.keywordAuthor | path planning | - |
dc.subject.keywordAuthor | vehicle dynamics | - |
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