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math.OC2018
Fast Trajectory Planning for Automated Vehicles using Gradient-based Nonlinear Model Predictive Control
Franz Gritschneder, Knut Graichen, Klaus Dietmayer
Motion trajectory planning is one crucial aspect for automated vehicles, as it governs the own future behavior in a dynamically changing environment. A good utilization of a vehicl…
math.OC2018
A software framework for embedded nonlinear model predictive control using a gradient-based augmented Lagrangian approach (GRAMPC)
Tobias Englert, Andreas Völz, Felix Mesmer +2
A nonlinear MPC framework is presented that is suitable for dynamical systems with sampling times in the (sub)millisecond range and that allows for an efficient implementation on e…