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

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

研究成果: 著書/レポートタイプへの貢献会議での発言

4 引用 (Scopus)

抜粋

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.

元の言語英語
ホスト出版物のタイトル16th IEEE International Conference on Control Applications, CCA 2007. Part of IEEE Multi-conference on Systems and Control
ページ1371-1375
ページ数5
DOI
出版物ステータス出版済み - 12 1 2007
イベント16th IEEE International Conference on Control Applications, CCA 2007. Part of IEEE Multi-conference on Systems and Control - , シンガポール
継続期間: 10 1 200710 3 2007

出版物シリーズ

名前Proceedings of the IEEE International Conference on Control Applications

その他

その他16th IEEE International Conference on Control Applications, CCA 2007. Part of IEEE Multi-conference on Systems and Control
シンガポール
期間10/1/0710/3/07

    フィンガープリント

All Science Journal Classification (ASJC) codes

  • Engineering(all)

これを引用

Mukai, M., Kawabe, T., Nishira, H., Takagi, Y., & Deguchi, Y. (2007). 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 (pp. 1371-1375). [4389427] (Proceedings of the IEEE International Conference on Control Applications). https://doi.org/10.1109/CCA.2007.4389427