Abstract:
This paper proposes an integrated planning and control method for autonomous ground vehicles in dynamic environments. This method takes the dynamic characteristics of lar...View moreMetadata
Abstract:
This paper proposes an integrated planning and control method for autonomous ground vehicles in dynamic environments. This method takes the dynamic characteristics of large vehicles in consider and is able to autonomously avoid obstacle vehicles during global path tracking without the need for additional planning modules. Firstly, we establish a vehicle dynamics model and tire model to describe the complex dynamic response characteristics of the vehicle. Then, the planning and control problem is formulated as a multiple-constraint model predictive control (MPC) problem to achieve optimal decisions within the predictive horizon. A control barrier function (CBF) is designed as a constraint for the optimization problem to achieve safety-critical obstacle avoidance. Additionally, for dynamic traffic scenarios, an adaptive rule for control barrier function is designed to reduce the impact on surrounding vehicles. Finally, the effectiveness of this method is verified in multiple simulation scenarios.
Date of Conference: 01-04 October 2023
Date Added to IEEE Xplore: 29 January 2024
ISBN Information: