Flatness-Based Mixed-Integer Obstacle Avoidance MPC for Collision-Safe Automated Urban Driving.
Alexander L. GratzerMaximilian M. BrogerAlexander SchirrerStefan JakubekPublished in: CoDIT (2023)
Keyphrases
- mixed integer
- obstacle avoidance
- mobile robot
- path planning
- collision avoidance
- linear program
- convex hull
- feasible solution
- lot sizing
- autonomous vehicles
- benders decomposition
- motion planning
- visually guided
- optimal solution
- linear programming
- continuous variables
- decision making
- bayesian networks
- high dimensional
- lower bound
- fuzzy controller
- multi robot
- fuzzy logic controller
- rule base
- closed loop
- computational complexity