On vehicle path generation method for collision avoidance using mixed integer programming

Masakazu Mukai; Taketoshi Kawabe; Hikaru Nishira; Yoshitaka Takagi; Yoshitaka Deguchi

doi:10.1109/CCA.2007.4389427

On vehicle path generation method for collision avoidance using mixed integer programming

Masakazu Mukai, Taketoshi Kawabe, Hikaru Nishira, Yoshitaka Takagi, Yoshitaka Deguchi

Section of Measurement and Control Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

4 Citations (Scopus)

Abstract

This paper considers an optimal path generation problem that generates a path without a collision between an automobile and obstacles.The problem is formulated as mixed integer programming. In the problem the obstacles and environments around the automobile can be represent as inequality conditions. The dynamics of the obstacle is described as variation of a prohibited region. According to model predictive control we solve the optimal path generation problem a each time step then apply the first element of the optimal input. The method proposed in this paper can deal an explicit representation of the dynamics of the obstacle and provides no collision between the automobile and the obstacle.

Original language	English
Title of host publication	16th IEEE International Conference on Control Applications, CCA 2007. Part of IEEE Multi-conference on Systems and Control
Pages	1371-1375
Number of pages	5
DOIs	https://doi.org/10.1109/CCA.2007.4389427
Publication status	Published - 2007
Event	16th IEEE International Conference on Control Applications, CCA 2007. Part of IEEE Multi-conference on Systems and Control - , Singapore Duration: Oct 1 2007 → Oct 3 2007

Publication series

Name	Proceedings of the IEEE International Conference on Control Applications

Other

Other	16th IEEE International Conference on Control Applications, CCA 2007. Part of IEEE Multi-conference on Systems and Control
Country	Singapore
Period	10/1/07 → 10/3/07

All Science Journal Classification (ASJC) codes

Engineering(all)

Access to Document

10.1109/CCA.2007.4389427

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Cite this

Mukai, M., Kawabe, T., Nishira, H., Takagi, Y., & Deguchi, Y. (2007). On vehicle path generation method for collision avoidance using mixed integer programming. In 16th IEEE International Conference on Control Applications, CCA 2007. Part of IEEE Multi-conference on Systems and Control (pp. 1371-1375). [4389427] (Proceedings of the IEEE International Conference on Control Applications). https://doi.org/10.1109/CCA.2007.4389427

On vehicle path generation method for collision avoidance using mixed integer programming. / Mukai, Masakazu; Kawabe, Taketoshi; Nishira, Hikaru; Takagi, Yoshitaka; Deguchi, Yoshitaka.

16th IEEE International Conference on Control Applications, CCA 2007. Part of IEEE Multi-conference on Systems and Control. 2007. p. 1371-1375 4389427 (Proceedings of the IEEE International Conference on Control Applications).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Mukai, M, Kawabe, T, Nishira, H, Takagi, Y & Deguchi, Y 2007, On vehicle path generation method for collision avoidance using mixed integer programming. in 16th IEEE International Conference on Control Applications, CCA 2007. Part of IEEE Multi-conference on Systems and Control., 4389427, Proceedings of the IEEE International Conference on Control Applications, pp. 1371-1375, 16th IEEE International Conference on Control Applications, CCA 2007. Part of IEEE Multi-conference on Systems and Control, Singapore, 10/1/07. https://doi.org/10.1109/CCA.2007.4389427

Mukai M, Kawabe T, Nishira H, Takagi Y, Deguchi Y. On vehicle path generation method for collision avoidance using mixed integer programming. In 16th IEEE International Conference on Control Applications, CCA 2007. Part of IEEE Multi-conference on Systems and Control. 2007. p. 1371-1375. 4389427. (Proceedings of the IEEE International Conference on Control Applications). https://doi.org/10.1109/CCA.2007.4389427

Mukai, Masakazu ; Kawabe, Taketoshi ; Nishira, Hikaru ; Takagi, Yoshitaka ; Deguchi, Yoshitaka. / On vehicle path generation method for collision avoidance using mixed integer programming. 16th IEEE International Conference on Control Applications, CCA 2007. Part of IEEE Multi-conference on Systems and Control. 2007. pp. 1371-1375 (Proceedings of the IEEE International Conference on Control Applications).

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