我所李润梅老师课题组完成的论文《Polygonal constrained adaptive MPC dynamic obstacle avoidance based on safety trigger mechanism》于2024-05在《Chinese Control and Decision Conference (CCDC)》正式发表。论文摘要如下：
Abstract: In order to improve the adaptability of autonomous vehicles in dynamic obstacle environments, this paper designs a novel constrained obstacle avoidance strategy based on adaptive model predictive control˄MPC˅ algorithm. Firstly, an adaptive MPC prediction model is established based on the vehicle kinematics model. Secondly, a safety trigger mechanism is defined to update the polygonal constraints established in this paper, which is introduced into the MPC optimization problem and solved by a quadratic programming algorithm. Finally, the results of the integrated obstacle avoidance framework established in this paper are tested in several scenarios. The results show that the algorithm can effectively avoid collisions in both static and dynamic obstacle environments, which lays the foundation for the subsequent development of real scenarios.
引用信息：Ranran Zheng, Runmei Li. Polygonal constrained adaptive MPC dynamic obstacle avoidance based on safety trigger mechanism. Chinese Control and Decision Conference (CCDC), 2024-05. DOI: 10.1109/ccdc62350.2024.10587610