2 papers
cs.RO2018
Model Predictive Control for Autonomous Driving considering Actuator Dynamics
Mithun Babu, Raghu Ram Theerthala, Arun Kumar Singh +3
In this paper, we propose a new model predictive control (MPC) formulation for autonomous driving. The novelty of our MPC stems from the following results. Firstly, we adopt an alt…
cs.RO2017
Model Predictive Control for Autonomous Driving Based on Time Scaled Collision Cone
Mithun Babu, Yash Oza, Arun Kumar Singh +2
In this paper, we present a Model Predictive Control (MPC) framework based on path velocity decomposition paradigm for autonomous driving. The optimization underlying the MPC has a…