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

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

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publication16th IEEE International Conference on Control Applications, CCA 2007. Part of IEEE Multi-conference on Systems and Control
Pages1371-1375
Number of pages5
DOIs
Publication statusPublished - 2007
Event16th IEEE International Conference on Control Applications, CCA 2007. Part of IEEE Multi-conference on Systems and Control - , Singapore
Duration: Oct 1 2007Oct 3 2007

Publication series

NameProceedings of the IEEE International Conference on Control Applications

Other

Other16th IEEE International Conference on Control Applications, CCA 2007. Part of IEEE Multi-conference on Systems and Control
CountrySingapore
Period10/1/0710/3/07

All Science Journal Classification (ASJC) codes

  • Engineering(all)

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