Frenet-Cartesian model representations for automotive obstacle avoidance within nonlinear MPC

DOI10.1016/j.ejcon.2023.100847zbMath1527.93115arXiv2212.13115OpenAlexW4380742280MaRDI QIDQ6092454

Moritz Diehl, Armin Nurkanović, Jonathan Frey, Rudolf Reiter

Publication date: 23 November 2023

Published in: European Journal of Control (Search for Journal in Brave)

Full work available at URL: https://arxiv.org/abs/2212.13115

zbMATH Keywords

motion planningautomotive controlobstacle avoidancecurvilinear coordinate frameFrenet transformation

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85) Model predictive control (93B45)

Cites Work

• The Lifted Newton Method and Its Application in Optimization
• Optimization‐based autonomous racing of 1:43 scale RC cars

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