文章基本信息

标题：Control of interacting vehicles using model-predictive control, generalized Nash equilibrium problems, and dynamic inversion
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作者：Andreas Britzelmeier ; Matthias Gerdts ; Thomas Rottmann 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2020
卷号：53
期号：2
页码：15146-15153
DOI：10.1016/j.ifacol.2020.12.2080
语种：English
出版社：Elsevier
摘要：AbstractThe paper presents a control concept for interacting vehicles in a road network. The approach combines a high-level controller for the generation of collision-free trajectories and a low-level dynamic inversion controller for path tracking. The high-level controller uses model-predictive control for generalized Nash equilibrium problems, which are used to coordinate the vehicles. The control concept was implemented and validated on scale robots and experimental results are discussed.
关键词：Keywordsmulti-vehicle systemsmotion planningdecision makingdynamic gamesmodel predictiveoptimization-based controltrajectory trackingpath following