Accession Number:

ADA615652

Title:

An MPC Algorithm with Combined Speed and Steering Control for Obstacle Avoidance in Autonomous Ground Vehicles

Descriptive Note:

Conference paper

Corporate Author:

ARMY TANK AUTOMOTIVE RESEARCH DEVELOPMENT AND ENGINEERING CENTER WARREN MI

Report Date:

2015-04-24

Pagination or Media Count:

10.0

Abstract:

This article presents a model predictive control based obstacle avoidance algorithm for autonomous ground vehicles in unstructured environments. The novelty of the algorithm is the simultaneous optimization of speed and steering without a priori knowledge about the obstacles. Obstacles are detected using a planar LIDAR sensor and a multi-phase optimal control problem is formulated to optimize the speed and steering commands within the detection range. Acceleration capability of the vehicle as a function of speed, and stability and handling concerns such as tire lift-off are taken into account as constraints in the optimization problem, whereas the cost function is formulated to navigate the vehicle as quickly as possible with smooth control commands. Thus, a safe and quick navigation is enabled without the need for a preloaded map of the environment. Simulation results show that the proposed algorithm is capable of navigating the vehicle through obstacle fields that cannot be cleared with steering control alone.

Subject Categories:

  • Cybernetics
  • Surface Transportation and Equipment
  • Navigation and Guidance

Distribution Statement:

APPROVED FOR PUBLIC RELEASE