Predictive control with trajectory planning in the presence of obstacles

@article{Afonso2012PredictiveCW,
  title={Predictive control with trajectory planning in the presence of obstacles},
  author={Rubens Junqueira Magalh{\~a}es Afonso and R. K. H. Galvao and K. H. Kienitz},
  journal={Proceedings of 2012 UKACC International Conference on Control},
  year={2012},
  pages={508-514}
}
In this work, a trajectory planning technique for an autonomous vehicle is proposed. A Predictive Control formulation is used both to plan a trajectory and control the vehicle in the presence of obstacles and dynamic constraints. However, some particularities of this sort of missions may make the time required for solution of the associated optimization problem prohibitive for a given sampling period. In this context, the possibility of using smaller prediction and control horizons is important… CONTINUE READING
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