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Mathematics > Optimization and Control

arXiv:1804.08290 (math)
[Submitted on 23 Apr 2018]

Title:Guaranteeing Consistency in a Motion Planning and Control Architecture Using a Kinematic Bicycle Model

Authors:Philip Polack, Florent Altché, Brigitte d'Andréa-Novel, Arnaud de La Fortelle
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Abstract:This paper proposes to combine a 10Hz motion planner based on a kinematic bicycle Model Predictive Control (MPC) and a 100Hz closed-loop Proportional-Integral-Derivative (PID) controller to cope with normal driving situations. Its novelty consists in ensuring the feasibility of the computed trajectory by the motion planner through a limitation of the steering angle depending on the speed. This ensures the validity of the kinematic bicycle model at any time. The architecture is tested on a high-fidelity simulation model on a challenging track with small curve radius, with and without surrounding obstacles.
Comments: 7 pages, 9 figures, American Control Conference 2018, Milwaukee, WI (accepted)
Subjects: Optimization and Control (math.OC)
Cite as: arXiv:1804.08290 [math.OC]
  (or arXiv:1804.08290v1 [math.OC] for this version)
  https://doi.org/10.48550/arXiv.1804.08290

Submission history

From: Philip Polack [view email]
[v1] Mon, 23 Apr 2018 08:51:45 UTC (2,921 KB)
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