This paper describes a concept for a collision avoidance system for ships, which is based on
model predictive control. A finite set of alternative control behaviors are generated by …

This paper presents a model predictive control-based obstacle avoidance algorithm for
autonomous ground vehicles at high speed in unstructured environments. The novelty of the …

In emergency situations, autonomous vehicles will be forced to operate at their friction limits
in order to avoid collisions. In these scenarios, coordinating the planning of the vehicle's …

This paper presents a nonlinear model predictive control (MPC) formulation for obstacle
avoidance in high-speed, large-size autono-mous ground vehicles (AGVs) with high centre …

Compared with automatic collision avoidance systems, collision avoidance assistance
systems have attracted more research interest because they help avoid collisions in near …

To improve the stability of the autonomous vehicle for high speed tracking, a vehicle
estimator scheme integrated into a path-tracking system has been proposed in this paper …

Self-driving car navigation is currently attracting considerable research interests. The key
problem is to guide the car to the destination in real-time with a safe and obstacle free path …

This work introduces the use of hard constraints to avoid moving obstacles for navigating a
large, high-speed autonomous ground vehicle in an unstructured environment using …

We present a Vehicle Model (VM) that has 17 degrees of freedom and includes nonlinear
tire and powertrain subsystems. Implemented as a relatively small piece of C++ code, the …

In this paper, a trajectory tracking control system, which consists of a model predictive
control unit and an active safety steering control unit, has been developed. A nonlinear …