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 | |
| 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 |
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 |
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All Science Journal Classification (ASJC) codes
- Engineering(all)
Cite this
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.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
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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
SP - 1371
EP - 1375
BT - 16th IEEE International Conference on Control Applications, CCA 2007. Part of IEEE Multi-conference on Systems and Control
ER -