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Title:

Constraint Violation Probability Minimization for Norm-Constrained Linear Model Predictive Control

Document type:
Konferenzbeitrag
Contribution type:
Textbeitrag / Aufsatz
Author(s):
Fink, Michael; Brüdigam, Tim; Wollherr, Dirk; Leibold, Marion
Pages contribution:
839-846
Abstract:
In autonomous driving, it is essential to be able to avoid any type of collision with the environment by appropriate control. Therefore, the distance between vehicle and obstacles needs to be sufficiently large, providing a norm constraint e.g. for optimal control of the vehicle. In general, future positions of dynamic obstacles are highly uncertain and thus predictions are e.g. made using a stochastic model of the obstacle dynamics. We propose an application-independent framework that extends L...     »
Dewey Decimal Classification:
620 Ingenieurwissenschaften
Book / Congress title:
2022 European Control Conference (ECC)
Date of congress:
12-15 July 2022
Year:
2022
Print-ISBN:
978-1-6654-9733-6
E-ISBN:
978-3-9071-4407-7
Fulltext / DOI:
doi:10.23919/ECC55457.2022.9837966
Semester:
SS 22
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