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
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/184535

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spelling 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
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
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