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Active lateral obstacle avoidance planning based on event-triggered model predictive control

delete2026-09-07
delete0
PRE
AI
Y
Yan Li
H
Hao Zhang *
严怀成 封面图
严怀成 (Huaicheng Yan)
H
Hongming Zhang
J
Juan Liu
DOI：10.1007/s11071-026-13003-8delete
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摘要

摘要

En 中文
本文研究了基于事件触发模型预测控制（EMPC）的无人地面车辆（UGV）避障规划与控制问题。建立了一个包含规划和控制的统一框架，并设计了控制策略以实现避障规划，使车辆在检测到障碍物时能够实时自动计算避障路径。此外，为降低模型预测控制的计算复杂度，引入了事件触发机制，可有效减轻模型预测控制的计算负担。通过严格推导证明了系统的稳定性和解的可行性。参考轨迹利用与真实地图匹配的点云数据集生成，并通过避障和轨迹规划的仿真验证了算法的有效性。
Keyword:
Unmanned ground vehicle
Model predictive control
Event-triggered control
Obstacle avoidance

期刊

Nonlinear Dynamics 封面图
Nonlinear Dynamics
IF:
6
论文数:
1.4W
被引数:
4.1W

机构

D
Department of Control Science and Engineering
学者数:
62
论文数: 25
被引数: 0
S
School of Information Science and Engineering
学者数:
488
论文数: 191
被引数: 3
C
College of Information
学者数:
42
论文数: 15
被引数: 0
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