Curvature-Aware Model Predictive Contouring Control

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Abstract

We present a novel Curvature-Aware Model Pre-dictive Contouring Control (CA-MPCC) formulation for mobile robotics motion planning. Our method aims at generalizing the traditional contouring control formulation derived from machining to autonomous driving applications. The proposed controller is able of handling sharp curvatures in the reference path while subject to non-linear constraints, such as lane boundaries and dynamic obstacle collision avoidance. Com-pared to a standard MPCC formulation, our method improves the reliability of the path-following algorithm and simplifies the tuning, while preserving real-time capabilities. We validate our findings in both simulations and experiments on a scaled-down car-like robot.
Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Robotics and Automation (ICRA 2023)
PublisherIEEE
Pages3204-3210
ISBN (Print)979-8-3503-2365-8
DOIs
Publication statusPublished - 2023
EventICRA 2023: International Conference on Robotics and Automation - London, United Kingdom
Duration: 29 May 20232 Jun 2023

Conference

ConferenceICRA 2023: International Conference on Robotics and Automation
Country/TerritoryUnited Kingdom
CityLondon
Period29/05/232/06/23

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

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