|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."
Linear time varying MPC and convex optimization, model predictive control, path planning.
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