University of Bahrain
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Complex Track Maneuvering using Real-Time MPC Control for Autonomous Driving

Show simple item record Farag, Wael 2020-07-13T13:22:35Z 2020-07-13T13:22:35Z 2020-09-01
dc.identifier.issn 2210-142X
dc.description.abstract This work proposes a framework to design, formulate and implement a path tracker for self-driving cars (SDC) based on nonlinear model-predictive-control (NMPC) approach. The presented methodology is developed to be used by designers in the industrial sector, practitioners and academics. Therefore, it is straight forward, flexible, and comprehensive as well. It allows the designer to easily integrate multiple objective terms in the cost function either opposing or correlating. The proposed design of the controller not only targets accurate tracking but also comfortable ride and fast travel time as well by introducing several sub-objective terms in the main cost function to satisfy these goals. These sub-objective terms are weighted according to their contribution to the optimization problem. The SDC-NMPC framework is developed using the high-performance language C++ and utilizes highly optimized math and optimization libraries for best real-time performance. This makes the SDC-MPC well suited for use in both ADAS and self-driving cars. Extensive simulation studies featuring complex tracks with many sharp turns have been carried out to evaluate the performance of the proposed SDC-NMPC at different speeds. The presented analysis shows that the proposed controller with its tuning technique outperforms that of the PID-based controller. en_US
dc.language.iso en en_US
dc.publisher University of Bahrain en_US
dc.rights Attribution-NonCommercial-NoDerivatives 4.0 International *
dc.rights.uri *
dc.subject MPC Control, Self-Driving Car, Autonomous Driving, Path Planning, Tracking. en_US
dc.title Complex Track Maneuvering using Real-Time MPC Control for Autonomous Driving en_US
dc.volume 9 en_US
dc.issue 5
dc.pagestart 909 en_US
dc.pageend 920 en_US
dc.source.title International Journal of Computing and Digital Systems en_US
dc.abbreviatedsourcetitle IJCDS en_US

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