Guaranteeing Consistency in a Motion Planning and Control Architecture Using a Kinematic Bicycle Model

Abstract

This paper proposes to combine a 10Hz motion planner based on a kinematic bicycle Model Predictive Control (MPC) and a 100Hz closed-loop Proportional-Integral-Derivative (PID) controller to cope with normal driving situations. Its novelty consists in ensuring the feasibility of the computed trajectory by the motion planner through a limitation of the steering angle depending on the speed. This ensures the validity of the kinematic bicycle model at any time. The architecture is tested on a high-fidelity simulation model on a challenging track with small curve radius, with and without surrounding obstacles.

arXiv comment7 pages, 9 figures, American Control Conference 2018, Milwaukee, WI (accepted)

References in corpus (1)

• Optimization-Based Autonomous Racing of 1:43 Scale RC Cars

Cited by in corpus (4)

• Optimal Control for Kinematic Bicycle Model with Continuous-time Safety Guarantees: A Sequential Second-order Cone Programming Approach
• PhysORD: A Neuro-Symbolic Approach for Physics-infused Motion Prediction in Off-road Driving
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• A Review of Autonomous Road Vehicle Integrated Approaches to an Emergency Obstacle Avoidance Maneuver