DocumentCode
183881
Title
On the suitability of Nonlinear Model Predictive Control for Unmanned Ground Vehicles
Author
Berkemeier, Matthew D. ; Perez, Sandra ; Bevly, David
Author_Institution
Autonomous Solutions Inc., Petersboro, UT, USA
fYear
2014
fDate
4-6 June 2014
Firstpage
4605
Lastpage
4610
Abstract
Nonlinear Model Predictive Control (NMPC) has great appeal for vehicle path control due to its ability to easily handle nonlinear dynamic models with constraints while achieving near-optimal control. The drawback is that a straight-forward application results in computations that take too long for real-time use. In this paper, we explore these issues in the use of NMPC for vehicle control. Methods for speeding up the computations are discussed.
Keywords
nonlinear control systems; optimal control; predictive control; remotely operated vehicles; NMPC; near-optimal control; nonlinear dynamic models; nonlinear model predictive control; straight-forward application; unmanned ground vehicles; vehicle path control; Cost function; Mathematical model; Portable computers; Predictive control; Trajectory; Vehicles; Automotive; Predictive control for nonlinear systems;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference (ACC), 2014
Conference_Location
Portland, OR
ISSN
0743-1619
Print_ISBN
978-1-4799-3272-6
Type
conf
DOI
10.1109/ACC.2014.6858827
Filename
6858827
Link To Document