Obstacle Avoidance Using PG-MPC Considering Variations of Vehicle Speed

Abstract

One of the research issues for automated vehicles is path planning and following control. In a previous study, obstacle avoidance maneuver by the optimal path generator embedded model predictive controller (PG-MPC) was investigated. However, this study did not consider changes in vehicle speed and driving on a course with varying curvature. In this study, an optimal path generator that takes into account changes in vehicle speed is constructed, and a course coordinate system is used in the vehicle dynamics to enable driving on a course with variable curvature. The utility of the proposed controller is evaluated by both the numerical simulation and experimental testing of the obstacle avoidance maneuver of the micro-unmanned vehicle. Results show that the proposed real-time optimal controller successfully performs obstacle avoidance.