Model predictive approach to integrated path planning and tracking for autonomous vehicles

Chao Huang, Boyuan Li, Masako Kishida

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

4 Citations (Scopus)

Abstract

In the field of path planning for autonomous vehicle, the existing studies separately consider the path planning and path tracking problem. To fill in this research gap, this study proposes an integrated path planning and path tracking control method. In addition, this paper studies the collision avoidance problem of autonomous vehicles by considering static and dynamic obstacles. Simulation results show that the proposed method can generate a collision-free path and control the autonomous vehicle to avoid the obstacles simultaneously.

Original languageEnglish
Title of host publication2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1448-1453
Number of pages6
ISBN (Electronic)9781538670248
DOIs
Publication statusPublished - Oct 2019
Externally publishedYes
Event2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019 - Auckland, New Zealand
Duration: 27 Oct 201930 Oct 2019

Publication series

Name2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019

Conference

Conference2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019
Country/TerritoryNew Zealand
CityAuckland
Period27/10/1930/10/19

ASJC Scopus subject areas

  • Artificial Intelligence
  • Management Science and Operations Research
  • Instrumentation
  • Transportation

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