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A New Predictive Motion Control of a Planar Vehicle under Uncertainty via Convex Optimization

Mohsen Ahmadi Mousavi*, Behzad Moshiri, and Zainabolhoda Heshmati
International Journal of Control, Automation, and Systems, vol. 15, no. 1, pp.129-137, 2017

Abstract : "This paper proposes an optimization-based planning framework for target tracking of a planar vehicle in the presence of some moving obstacles and uncertainty resources. The framework is modeled based on Linear-Time Varying Model Predictive Control (LTV-MPC). Moreover, a successive linearization approach is presented to formulate the obstacle avoidance mission as a set of linear constraints. Finally this LTV-MPC problem is translated to a close-form convex optimization problem by applying some mathematical and algebraic simplifications. Simulation results show beneficially of the proposed path planning method to navigate an autonomous vehicle successfully regardless of different uncertainty resources."

Keyword : Linear time varying MPC and convex optimization, model predictive control, path planning.

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