scholarly journals Cooperative Highway Lane Merge of Connected Vehicles Using Nonlinear Model Predictive Optimal Controller

Vehicles ◽  
2020 ◽  
Vol 2 (2) ◽  
pp. 249-266 ◽  
Author(s):  
Syed A. Hussain ◽  
Babak Shahian Jahromi ◽  
Sabri Cetin
Keyword(s):  
Predictive Control ◽  
Nonlinear Model ◽  
Autonomous Vehicles ◽  
Shooting Method ◽  
Optimization Method ◽  
Performance Criteria ◽  
Multiple Shooting ◽  
Connected Vehicles ◽  
Case Scenario ◽  
Multiple Shooting Method

Of all driving functions, one of the critical maneuvers is the lane merge. A cooperative Nonlinear Model Predictive Control (NMPC)-based optimization method for implementing a highway lane merge of two connected autonomous vehicles is presented using solutions obtained by the direct multiple shooting method. A performance criteria cost function, which is a function of the states and inputs of the system, was optimized subject to nonlinear model and maneuver constraints. An optimal formulation was developed and then solved on a receding horizon using direct multiple shooting solutions; this is implemented using an open-source ACADO code. Numerical simulation results were performed in a real-case scenario. The results indicate that the implementation of such a controller is possible in real time, in different highway merge situations.

scholarly journals LVD-NMPC: A learning-based vision dynamics approach to nonlinear model predictive control for autonomous vehicles

2021 ◽  
Vol 18 (3) ◽  
pp. 172988142110195
Author(s):  
Sorin Grigorescu ◽  
Cosmin Ginerica ◽  
Mihai Zaha ◽  
Gigel Macesanu ◽  
Bogdan Trasnea
Keyword(s):  
Neural Network ◽  
Model Predictive Control ◽  
Predictive Control ◽  
Nonlinear Model ◽  
Autonomous Vehicles ◽  
Process Model ◽  
Network Performance ◽  
Vision System ◽  
Nonlinear Model Predictive Control ◽  
Scaled Model

In this article, we introduce a learning-based vision dynamics approach to nonlinear model predictive control (NMPC) for autonomous vehicles, coined learning-based vision dynamics (LVD) NMPC. LVD-NMPC uses an a-priori process model and a learned vision dynamics model used to calculate the dynamics of the driving scene, the controlled system’s desired state trajectory, and the weighting gains of the quadratic cost function optimized by a constrained predictive controller. The vision system is defined as a deep neural network designed to estimate the dynamics of the image scene. The input is based on historic sequences of sensory observations and vehicle states, integrated by an augmented memory component. Deep Q-learning is used to train the deep network, which once trained can also be used to calculate the desired trajectory of the vehicle. We evaluate LVD-NMPC against a baseline dynamic window approach (DWA) path planning executed using standard NMPC and against the PilotNet neural network. Performance is measured in our simulation environment GridSim, on a real-world 1:8 scaled model car as well as on a real size autonomous test vehicle and the nuScenes computer vision dataset.

scholarly journals Multiple shooting method in stability analysis of non-prismatic multi-segment columns

2013 ◽  
Vol 12 (4) ◽  
pp. 225-232
Author(s):  
Ryszard Hołubowski ◽  
Andrzej Merena
Keyword(s):  
Finite Element Method ◽  
Stability Analysis ◽  
Shooting Method ◽  
High Efficiency ◽  
Variable Coefficients ◽  
Multiple Shooting ◽  
System Of Differential Equations ◽  
The Finite Element Method ◽  
Concentrated Force ◽  
Multiple Shooting Method

The application of multiple shooting method in stability analysis of non-prismatic multi-segment columns with pinned ends loaded with a concentrated force applied to the upper node has been presented. Numerical analyses were carried out for an exemplary three-segment column by solving the system of differential equations with variable coefficients and parameter. The results were compared with the solution obtained by using SOFiSTiK software based on the finite element method. The analyses show that considering the stiffness changes along the length can have a significant influence on the values of critical loads and thus change the resistance of the column. The advantage of the proposed method is its high efficiency and easy description of stiffness changes.

scholarly journals Trajectory Generation for Mobile Robots in a Dynamic Environment using Nonlinear Model Predictive Control

2021 ◽  
Author(s):  
Jonas Berlin ◽  
Georg Hess ◽  
Anton Karlsson ◽  
William Ljungbergh ◽  
Ze Zhang ◽  
...  
Keyword(s):  
Model Predictive Control ◽  
Long Range ◽  
Predictive Control ◽  
Nonlinear Model ◽  
Trajectory Generation ◽  
Dynamic Environment ◽  
Optimization Method ◽  
Time Frame ◽  
Nonlinear Model Predictive Control ◽  
Robot Dynamics

This paper presents an approach to collision-free, long-range trajectory generation for a mobile robot in an industrial environment with static and dynamic obstacles. For the long range planning a visibility graph together with A* is used to find a collision-free path with respect to the static obstacles. This path is used as a reference path to the trajectory planning algorithm that in addition handles dynamic obstacles while complying with the robot dynamics and constraints. A Nonlinear Model Predictive Control (NMPC) solver generates a collision-free trajectory by staying close the initial path but at the same time obeying all constraints. The NMPC problem is solved efficiently by leveraging the new numerical optimization method Proximal Averaged Newton for Optimal Control (PANOC). The algorithm was evaluated by simulation in various environments and successfully generated feasible trajectories spanning hundreds of meters in a tractable time frame.

Nonlinear Analysis of Rotor Systems Including a Bearing Clearance by the Multiple Shooting Method

2001 ◽  
Author(s):  
David Demailly ◽  
Fabrice Thouverez ◽  
Louis Jézéquel ◽  
Jérôme Bonini
Keyword(s):  
Contact Zone ◽  
Response Curve ◽  
Shooting Method ◽  
Simplified Model ◽  
Multiple Shooting ◽  
Frequency Response Curve ◽  
Rotor Systems ◽  
Transition Zones ◽  
Full Contact ◽  
Multiple Shooting Method

Abstract In this paper the Multiple Shooting Method is briefly exposed. This method is then applied to a simplified model of a rotor/stator system including a bearing with clearance under static and unbalance forces. With bearing having a small amount of clearance, it is pointed out that the orbits are no longer circular at certain frequencies as for linear systems. If the clearance is large, the frequency response curve can be divided into three zones: a non-contact zone, a zone with one or several gains and looses of contact per period and a full contact zone. For both cases we emphasize on the evolution of the orbits while passing through transition zones.

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