An Integrated Obstacle Avoidance Controller Based on Scene-Adaptive Safety Envelopes

An Integrated Obstacle Avoidance Controller Based on Scene-Adaptive Safety Envelopes

This paper presents an integrated active obstacle avoidance controller in the Model Predictive Control (MPC) framework to ensure adaptive collision-free obstacle avoidance under complex scenarios while maintaining a good level of vehicle stability and steering smoothness. Firstly, with the observed...

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Bibliographic Details
Main Authors: Kang Li, Zhishuai Yin, Yuanxin Ba, Yue Yang, Yuanhao Kuang, Erqian Sun
Format: Article
Language:English
Published: MDPI AG 2023-02-01
Series:Machines
Subjects:
obstacle avoidance
Gaussian processes regression (GPR)
safety envelope
model predictive control (MPC)
multi-objective optimization
Online Access:https://www.mdpi.com/2075-1702/11/2/303

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https://www.mdpi.com/2075-1702/11/2/303

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