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/Territory	Singapore
Period	10/1/07 → 10/3/07

All Science Journal Classification (ASJC) codes

Engineering(all)

Access to Document

10.1109/CCA.2007.4389427

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).

@inproceedings{c8325349f62849b7873b6389aa1fb3b0,

title = "On vehicle path generation method for collision avoidance using mixed integer programming",

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.",

author = "Masakazu Mukai and Taketoshi Kawabe and Hikaru Nishira and Yoshitaka Takagi and Yoshitaka Deguchi",

year = "2007",

doi = "10.1109/CCA.2007.4389427",

language = "English",

isbn = "1424404436",

series = "Proceedings of the IEEE International Conference on Control Applications",

pages = "1371--1375",

booktitle = "16th IEEE International Conference on Control Applications, CCA 2007. Part of IEEE Multi-conference on Systems and Control",

note = "16th IEEE International Conference on Control Applications, CCA 2007. Part of IEEE Multi-conference on Systems and Control ; Conference date: 01-10-2007 Through 03-10-2007",

}

TY - GEN

T1 - On vehicle path generation method for collision avoidance using mixed integer programming

AU - Mukai, Masakazu

AU - Kawabe, Taketoshi

AU - Nishira, Hikaru

AU - Takagi, Yoshitaka

AU - Deguchi, Yoshitaka

PY - 2007

Y1 - 2007

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=43049170364&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=43049170364&partnerID=8YFLogxK

U2 - 10.1109/CCA.2007.4389427

DO - 10.1109/CCA.2007.4389427

M3 - Conference contribution

AN - SCOPUS:43049170364

SN - 1424404436

SN - 9781424404438

T3 - Proceedings of the IEEE International Conference on Control Applications

SP - 1371

EP - 1375

BT - 16th IEEE International Conference on Control Applications, CCA 2007. Part of IEEE Multi-conference on Systems and Control

T2 - 16th IEEE International Conference on Control Applications, CCA 2007. Part of IEEE Multi-conference on Systems and Control

Y2 - 1 October 2007 through 3 October 2007

ER -

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

Abstract

Publication series

Other

All Science Journal Classification (ASJC) codes

Access to Document

Other files and links

Fingerprint

Cite this