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European Control Conference, Date: 2018/06/13 - 2018/06/15, Location: Limassol, Cyprus

Publication date: 2018-06
Pages: 1523 - 1528
ISBN: 9783952426982
DOI: 10.23919/ECC.2018.8550253
Publisher: IEEE

Proceedings of the 2018 European Control Conference

Author:

Sathya, Ajay Suresha
Sopasakis, Pantelis ; Van Parys, Ruben ; Themelis, Andreas ; Pipeleers, Goele ; Patrinos, Panos

Keywords:

Embedded optimization, Nonlinear model pre- dictive control, Obstacle avoidance, KUL-CoE-Optec, DYSCO, KUL-Flanders Make, Science & Technology, Technology, Automation & Control Systems, Nonlinear model predictive control, MATHEMATICAL PROGRAMS, OPTIMIZATION, STATIONARITY, STADIUS-18-50

Abstract:

We employ the proximal averaged Newton-type method for optimal control (PANOC) to solve obstacle avoidance problems in real time. We introduce a novel modeling framework for obstacle avoidance which allows us to easily account for generic, possibly nonconvex, obstacles involving polytopes, ellipsoids, semialgebraic sets and generic sets described by a set of nonlinear inequalities. PANOC is particularly well-suited for embedded applications as it involves simple steps, its implementation comes with a low memory footprint and its fast convergence meets the tight runtime requirements of fast dynamical systems one encounters in modern mechatronics and robotics. The proposed obstacle avoidance scheme is tested on a lab-scale autonomous vehicle.