Spatial Predictive Control for Agile Semi-Autonomous Ground Vehicles

@inproceedings{Gao2012SpatialPC,
  title={Spatial Predictive Control for Agile Semi-Autonomous Ground Vehicles},
  author={Yiqi Gao and Andrew Gray and Janick V. Frasch and Theresa Lin and H. Eric Tseng and J. Karl Hedrick and Francesco Borrelli},
  year={2012}
}
This paper presents a formulation to the obstacle avoidance problem for semi-autonomous ground vehicles. The planning and tracking problems have been divided into a two-level hierarchical controller. The high level solves a nonlinear model predictive control problem to generate a feasible and obstacle free path. It uses a nonlinear vehicle model and utilizes a coordinate transformation which uses vehicle position along a path as the independent variable. The low level uses a higher fidelity… CONTINUE READING

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