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Obstacle Avoidance Path Planning based on Output Constrained Model Predictive Control

Ji-Chang Kim, Dong-Sung Pae, and Myo-Taeg Lim*
International Journal of Control, Automation, and Systems, vol. 17, no. 11, pp.2850-2861, 2019

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.

Keyword : Comfort level, model predictive control, obstacle avoidance, path planning, vehicle dynamics.

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