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MPC trajectory planner for autonomous driving solved by genetic algorithm technique
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AI
DOI：10.1080/00423114.2021.1999991.png)
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Abstract
En 中文
Focusing on autonomous driving algorithm development, this paper proposes a novel real-time trajectory planner formulated as a Nonlinear Model Predictive Control (NMPC) algorithm. The mathematical formulation of the problem is deeply reported and discussed. The numerical solution of the NMPC problem is the result of a novel genetic algorithm strategy that represents the innovative aspect of the work proposed. The aim of this paper is also to show how genetic algorithm can be a valid approach for motion planning strategies. Numerical results are discussed through simulations that show a reasonable behaviour of the proposed strategy in the presence of moving obstacles as well as in a wide range of road friction conditions. Moreover, a real-time implementation for research purposes is assumed as possible by considering computational time analysis reported.
Keywords:
MPC
GA methods
motion planning
autonomous driving
obstacle avoidance
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V
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