Safe path planning and adjustable zonotope-tube model predictive tracking control for autonomous vehicle

DOI10.1016/j.jfranklin.2023.12.056MaRDI QIDQ6193228

Unnamed Author, Bing Xiao

Publication date: 12 March 2024

Published in: Journal of the Franklin Institute (Search for Journal in Brave)

zbMATH Keywords

path planningtracking controlautonomous vehicledeep neural networklane changeadjustable zonotope-tube model predictive control

Mathematics Subject Classification ID

Artificial neural networks and deep learning (68T07) Automated systems (robots, etc.) in control theory (93C85) Model predictive control (93B45)

Cites Work

• Robust model predictive control using tubes.
• Robust model predictive control of constrained linear systems with bounded disturbances
• Trajectory tracking of an autonomous vehicle using immersion and invariance control
• Set operations and order reductions for constrained zonotopes
• Varying zonotopic tube RMPC with switching logic for lateral path tracking of autonomous vehicle
• A polynomial blossoming approach to stabilization of periodic time-varying systems
• Dynamic path planning of mobile robot based on improved simulated annealing algorithm

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