文章基本信息

标题：OPTIPLAN: A Matlab Toolbox for Model Predictive Control with Obstacle Avoidance
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作者：Filip Janeček ; Martin Klaučo ; Martin Kalúz 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：531-536
DOI：10.1016/j.ifacol.2017.08.057
语种：English
出版社：Elsevier
摘要：AbstractThis paper introduces OPTIPLAN - a Matlab-based toolbox for formulating, solving, and simulating model predictive controllers (MPC) with embedded obstacle avoidance functionality. The toolbox offers a simple, yet powerful user interface that allows control researchers and practitioners to set up even complex control problems with just a few lines of code. OPTIPLAN fully automates tedious mathematical and technical details and let the user concentrate on the problem formulation. It features a rich set of tools to perform closed-loop simulations with MPC controllers and to visualize the results in an appealing way. From a theoretical point of view, OPTIPLAN tackles non-convex obstacle avoidance constraints in two ways: either by using binary variables or by resorting to suboptimal, but convex, time-varying constraints.
关键词：Keywordscollision avoidanceautonomous vehiclesmodel predictive control