Collision-Free Navigation of Autonomous Vehicles Using Convex Quadratic Programming-Based Model Predictive Control
Zhuping Wang, Gangbin Li, Houjie Jiang, Qijun Chen, Hao Zhang · IEEE/ASME Transactions on Mechatronics · 2018
Collision-free navigation of autonomous vehicles by means of convex quadratic programming (CQP) based model predictive control (MPC) is considered in this paper. A new collision-free navigation function is designed for real-time collision avoidance of an autonomous vehicle in both static and dynamic environments. Furthermore, vehicle shape is taken into consideration during trajectory generation as a convex polygonal region defined by linear constraints rather than a single point. Then, the MPC optimization problem with the vehicle shape is solved as a CQP-based MPC scheme in the sense of path planning. Compared to the previous MPC, which can only be reduced to a nonlinear programming problem, the control sequences of CQP-based MPC can be obtained quickly with improved real-time system performance. Simulations in diverse scenarios, including a real vehicle dataset, show the validity of the proposed approach.