Obstacle Avoidance of Semi-Trailers Based on Nonlinear Model Predictive Control

Abstract

Obstacle avoidance is a core part of the autonomous driving of off-road vehicles, such as semi-trailers. Due to the long length of semi-trailers, the traditional obstacle avoidance controller based on the circumcircle model can ensure that there is no collision between the semi-trailer and the obstacle, but it also greatly reduces the passable area. To solve this problem, we propose a new obstacle avoidance model. In this model, the distance between the obstacle and the middle line of semi-trailers is used as the indicator of obstacle avoidance. Based on this model, we design a new obstacle avoidance controller for semi-trailers. The simulation results show that the proposed controller can ensure that no collision occurs between the semi-trailer and the obstacle. The minimum distance between the obstacle center and the semi-trailer body trajectory is greater than the sum of the obstacle radius and the safety margin. Compared with the traditional obstacle avoidance controller based on the circumcircle model, the proposed controller greatly reduces the error between the semi-trailer and the reference path during obstacle avoidance.

Path tracking control for autonomous vehicles using hybrid fault-tolerant approach

“…In paper, 12 a fuzzy PID path tracking control approach is proposed, which has better control accuracy than the static PID approach. MPC (model predictive control), 13 NMPC (nonlinear model predictive control), 14 and others model reference control algorithms have also proven to be higher control accuracy, although they are less robust. 15 ''The vehicle should keep moving while faults occur,'' some researchers say.…”

Path Tracking for Car-like Robots Based on Neural Networks with NMPC as Learning Samples

“…In 2017, Wang et al proposed an MPC path tracking method for field vehicles [20]. Between 2019 and 2022, based on NMPC, Bai et al attempted to solve the problems faced in path tracking for a variety of mobile devices, such as tractortrailer vehicles [21], car-like vehicles [22][23][24], and differential wheeled robots [25,26]. In 2020, Yin et al designed an NMPC-based path tracking controller using discrete previewed points in the inertial system [27].…”