A Two-layer MPC Approach for Consistent Planning and Control of Autonomous Vehicles.

Yang Lu Xinglong Zhang Xin Xu Wenzhuo Zhang

Published in: ICARM (2022)

Keyphrases

autonomous vehicles
route planning
structured environments
obstacle avoidance
path planning
robot control
multiagent systems
autonomous agents
urban traffic
dynamic model
optimal control
decision making
control method
motion planning
real time
closed loop
mobile robot
control system
reinforcement learning