制御arXiv:1805.08551
自動運転車のためのロバストモデル予測制御
Robust Model Predictive Control for Autonomous Vehicles/Self Driving Cars
非線形車両モデルの逐次オンライン線形化と重み調整を用いて、自動運転車の前輪操舵をロバストに制御するMPC手法を提案し、精度と計算負荷を比較した。
著者: Che Kun Law, Darshit Dalal, Stephen Shearrow
分類: eess.SY, cs.RO, cs.SY
原文アブストラクト
A robust Model Predictive Control (MPC) approach for controlling front steering of an autonomous vehicle is presented in this paper. We present various approaches to increase the robustness of model predictive control by using weight tuning, a successive on-line linearization of a nonlinear vehicle model to track position error and successive on-line linearization to track velocity error. Results of the effectiveness of each method in terms of accuracy and computational load are discussed.