Nonlinear Model Predictive Path Following Controller with Obstacle Avoidance
- Autores
- Sánchez, Ignacio Julián Rodolfo; D'jorge, Agustina; Raffo, Guilherme V.; González, Alejandro Hernán; Ferramosca, Antonio
- Año de publicación
- 2021
- Idioma
- inglés
- Tipo de recurso
- artículo
- Estado
- versión publicada
- Descripción
- In the control systems community, path-following refers to the problem of tracking an output reference curve. This work presents a novel model predictive path-following control formulation for nonlinear systems with constraints, extended with an obstacle avoidance strategy. The method proposed in this work simultaneously provides an optimizing solution for both, path-following and obstacle avoidance tasks in a single optimization problem, using Nonlinear Model Predictive Control (NMPC). The main idea consists in extending the existing NMPC controllers by the introduction of an additional auxiliary trajectory that maintains the feasibility of the successive optimization problems even when the reference curve is unfeasible, possibly discontinuous, relaxing assumptions required in previous works. The obstacle avoidance is fulfilled by introducing additional terms in the value functional, rather than imposing state space constraints, with the aim of maintaining the convexity of the state and output spaces. Simulations results considering an autonomous vehicle subject to input and state constraints are carried out to illustrate the performance of the proposed control strategy.
Fil: Sánchez, Ignacio Julián Rodolfo. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Santa Fe. Instituto de Matemática Aplicada del Litoral. Universidad Nacional del Litoral. Instituto de Matemática Aplicada del Litoral; Argentina
Fil: D'jorge, Agustina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Santa Fe. Instituto de Desarrollo Tecnológico para la Industria Química. Universidad Nacional del Litoral. Instituto de Desarrollo Tecnológico para la Industria Química; Argentina
Fil: Raffo, Guilherme V.. Universidade Federal de Minas Gerais; Brasil
Fil: González, Alejandro Hernán. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Santa Fe. Instituto de Desarrollo Tecnológico para la Industria Química. Universidad Nacional del Litoral. Instituto de Desarrollo Tecnológico para la Industria Química; Argentina
Fil: Ferramosca, Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina - Materia
-
MODEL PREDICTIVE CONTROL
OBSTACLE AVOIDANCE
PATH-FOLLOWING - Nivel de accesibilidad
- acceso abierto
- Condiciones de uso
- https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
- Repositorio
- Institución
- Consejo Nacional de Investigaciones Científicas y Técnicas
- OAI Identificador
- oai:ri.conicet.gov.ar:11336/184535
Ver los metadatos del registro completo
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Nonlinear Model Predictive Path Following Controller with Obstacle AvoidanceSánchez, Ignacio Julián RodolfoD'jorge, AgustinaRaffo, Guilherme V.González, Alejandro HernánFerramosca, AntonioMODEL PREDICTIVE CONTROLOBSTACLE AVOIDANCEPATH-FOLLOWINGhttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2In the control systems community, path-following refers to the problem of tracking an output reference curve. This work presents a novel model predictive path-following control formulation for nonlinear systems with constraints, extended with an obstacle avoidance strategy. The method proposed in this work simultaneously provides an optimizing solution for both, path-following and obstacle avoidance tasks in a single optimization problem, using Nonlinear Model Predictive Control (NMPC). The main idea consists in extending the existing NMPC controllers by the introduction of an additional auxiliary trajectory that maintains the feasibility of the successive optimization problems even when the reference curve is unfeasible, possibly discontinuous, relaxing assumptions required in previous works. The obstacle avoidance is fulfilled by introducing additional terms in the value functional, rather than imposing state space constraints, with the aim of maintaining the convexity of the state and output spaces. Simulations results considering an autonomous vehicle subject to input and state constraints are carried out to illustrate the performance of the proposed control strategy.Fil: Sánchez, Ignacio Julián Rodolfo. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Santa Fe. Instituto de Matemática Aplicada del Litoral. Universidad Nacional del Litoral. Instituto de Matemática Aplicada del Litoral; ArgentinaFil: D'jorge, Agustina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Santa Fe. Instituto de Desarrollo Tecnológico para la Industria Química. Universidad Nacional del Litoral. Instituto de Desarrollo Tecnológico para la Industria Química; ArgentinaFil: Raffo, Guilherme V.. Universidade Federal de Minas Gerais; BrasilFil: González, Alejandro Hernán. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Santa Fe. Instituto de Desarrollo Tecnológico para la Industria Química. Universidad Nacional del Litoral. Instituto de Desarrollo Tecnológico para la Industria Química; ArgentinaFil: Ferramosca, Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaSpringer2021-05info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/184535Sánchez, Ignacio Julián Rodolfo; D'jorge, Agustina; Raffo, Guilherme V.; González, Alejandro Hernán; Ferramosca, Antonio; Nonlinear Model Predictive Path Following Controller with Obstacle Avoidance; Springer; Journal of Intelligent & Robotic Systems; 102; 1; 5-2021; 1-180921-0296CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/doi/10.1007/s10846-021-01373-7info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-10-15T15:24:19Zoai:ri.conicet.gov.ar:11336/184535instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-10-15 15:24:19.261CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse |
dc.title.none.fl_str_mv |
Nonlinear Model Predictive Path Following Controller with Obstacle Avoidance |
title |
Nonlinear Model Predictive Path Following Controller with Obstacle Avoidance |
spellingShingle |
Nonlinear Model Predictive Path Following Controller with Obstacle Avoidance Sánchez, Ignacio Julián Rodolfo MODEL PREDICTIVE CONTROL OBSTACLE AVOIDANCE PATH-FOLLOWING |
title_short |
Nonlinear Model Predictive Path Following Controller with Obstacle Avoidance |
title_full |
Nonlinear Model Predictive Path Following Controller with Obstacle Avoidance |
title_fullStr |
Nonlinear Model Predictive Path Following Controller with Obstacle Avoidance |
title_full_unstemmed |
Nonlinear Model Predictive Path Following Controller with Obstacle Avoidance |
title_sort |
Nonlinear Model Predictive Path Following Controller with Obstacle Avoidance |
dc.creator.none.fl_str_mv |
Sánchez, Ignacio Julián Rodolfo D'jorge, Agustina Raffo, Guilherme V. González, Alejandro Hernán Ferramosca, Antonio |
author |
Sánchez, Ignacio Julián Rodolfo |
author_facet |
Sánchez, Ignacio Julián Rodolfo D'jorge, Agustina Raffo, Guilherme V. González, Alejandro Hernán Ferramosca, Antonio |
author_role |
author |
author2 |
D'jorge, Agustina Raffo, Guilherme V. González, Alejandro Hernán Ferramosca, Antonio |
author2_role |
author author author author |
dc.subject.none.fl_str_mv |
MODEL PREDICTIVE CONTROL OBSTACLE AVOIDANCE PATH-FOLLOWING |
topic |
MODEL PREDICTIVE CONTROL OBSTACLE AVOIDANCE PATH-FOLLOWING |
purl_subject.fl_str_mv |
https://purl.org/becyt/ford/2.2 https://purl.org/becyt/ford/2 |
dc.description.none.fl_txt_mv |
In the control systems community, path-following refers to the problem of tracking an output reference curve. This work presents a novel model predictive path-following control formulation for nonlinear systems with constraints, extended with an obstacle avoidance strategy. The method proposed in this work simultaneously provides an optimizing solution for both, path-following and obstacle avoidance tasks in a single optimization problem, using Nonlinear Model Predictive Control (NMPC). The main idea consists in extending the existing NMPC controllers by the introduction of an additional auxiliary trajectory that maintains the feasibility of the successive optimization problems even when the reference curve is unfeasible, possibly discontinuous, relaxing assumptions required in previous works. The obstacle avoidance is fulfilled by introducing additional terms in the value functional, rather than imposing state space constraints, with the aim of maintaining the convexity of the state and output spaces. Simulations results considering an autonomous vehicle subject to input and state constraints are carried out to illustrate the performance of the proposed control strategy. Fil: Sánchez, Ignacio Julián Rodolfo. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Santa Fe. Instituto de Matemática Aplicada del Litoral. Universidad Nacional del Litoral. Instituto de Matemática Aplicada del Litoral; Argentina Fil: D'jorge, Agustina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Santa Fe. Instituto de Desarrollo Tecnológico para la Industria Química. Universidad Nacional del Litoral. Instituto de Desarrollo Tecnológico para la Industria Química; Argentina Fil: Raffo, Guilherme V.. Universidade Federal de Minas Gerais; Brasil Fil: González, Alejandro Hernán. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Santa Fe. Instituto de Desarrollo Tecnológico para la Industria Química. Universidad Nacional del Litoral. Instituto de Desarrollo Tecnológico para la Industria Química; Argentina Fil: Ferramosca, Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina |
description |
In the control systems community, path-following refers to the problem of tracking an output reference curve. This work presents a novel model predictive path-following control formulation for nonlinear systems with constraints, extended with an obstacle avoidance strategy. The method proposed in this work simultaneously provides an optimizing solution for both, path-following and obstacle avoidance tasks in a single optimization problem, using Nonlinear Model Predictive Control (NMPC). The main idea consists in extending the existing NMPC controllers by the introduction of an additional auxiliary trajectory that maintains the feasibility of the successive optimization problems even when the reference curve is unfeasible, possibly discontinuous, relaxing assumptions required in previous works. The obstacle avoidance is fulfilled by introducing additional terms in the value functional, rather than imposing state space constraints, with the aim of maintaining the convexity of the state and output spaces. Simulations results considering an autonomous vehicle subject to input and state constraints are carried out to illustrate the performance of the proposed control strategy. |
publishDate |
2021 |
dc.date.none.fl_str_mv |
2021-05 |
dc.type.none.fl_str_mv |
info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion http://purl.org/coar/resource_type/c_6501 info:ar-repo/semantics/articulo |
format |
article |
status_str |
publishedVersion |
dc.identifier.none.fl_str_mv |
http://hdl.handle.net/11336/184535 Sánchez, Ignacio Julián Rodolfo; D'jorge, Agustina; Raffo, Guilherme V.; González, Alejandro Hernán; Ferramosca, Antonio; Nonlinear Model Predictive Path Following Controller with Obstacle Avoidance; Springer; Journal of Intelligent & Robotic Systems; 102; 1; 5-2021; 1-18 0921-0296 CONICET Digital CONICET |
url |
http://hdl.handle.net/11336/184535 |
identifier_str_mv |
Sánchez, Ignacio Julián Rodolfo; D'jorge, Agustina; Raffo, Guilherme V.; González, Alejandro Hernán; Ferramosca, Antonio; Nonlinear Model Predictive Path Following Controller with Obstacle Avoidance; Springer; Journal of Intelligent & Robotic Systems; 102; 1; 5-2021; 1-18 0921-0296 CONICET Digital CONICET |
dc.language.none.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
info:eu-repo/semantics/altIdentifier/doi/10.1007/s10846-021-01373-7 |
dc.rights.none.fl_str_mv |
info:eu-repo/semantics/openAccess https://creativecommons.org/licenses/by-nc-sa/2.5/ar/ |
eu_rights_str_mv |
openAccess |
rights_invalid_str_mv |
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/ |
dc.format.none.fl_str_mv |
application/pdf application/pdf application/pdf |
dc.publisher.none.fl_str_mv |
Springer |
publisher.none.fl_str_mv |
Springer |
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Consejo Nacional de Investigaciones Científicas y Técnicas |
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CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas |
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dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar |
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13.22299 |