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• W1878563552 abstract "We address the problem of real-time obstacle avoidance on low-friction road surfaces using spatial Nonlinear Model Predictive Control (NMPC). We use a nonlinear four-wheel vehicle dynamics model that includes load transfer. To overcome the computational difficulties we propose to use the ACADO Code Generation tool which generates NMPC algorithms based on the real-time iteration scheme for dynamic optimization. The exported plain C code is tailored to the model dynamics, resulting in faster run-times in effort for real-time feasibility. The advantages of the proposed method are shown through simulation." @default.
• W1878563552 created "2016-06-24" @default.
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• W1878563552 date "2013-07-01" @default.
• W1878563552 modified "2023-10-10" @default.
• W1878563552 title "An auto-generated nonlinear MPC algorithm for real-time obstacle avoidance of ground vehicles" @default.
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• W1878563552 doi "https://doi.org/10.23919/ecc.2013.6669836" @default.
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