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A Robust Scenario MPC Approach for Uncertain Multi-modal Obstacles

Batkovic, Ivo and Rosolia, Ugo and Zanon, Mario and Falcone, Paolo (2021) A Robust Scenario MPC Approach for Uncertain Multi-modal Obstacles. IEEE Control Systems Letters, 5 (3). pp. 947-952. ISSN 2475-1456. https://resolver.caltech.edu/CaltechAUTHORS:20200710-141338642

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Abstract

Motion planning and control algorithms for autonomous vehicles need to be safe, and consider future movements of other road users to ensure collision-free trajectories. In this letter, we present a control scheme based on Model Predictive Control (MPC) with robust constraint satisfaction where the constraint uncertainty, stemming from the road users’ behavior, is multimodal. The method combines ideas from tube-based and scenario-based MPC strategies in order to approximate the expected cost and to guarantee robust state and input constraint satisfaction. In particular, we design a feedback policy that is a function of the disturbance mode and allows the controller to take less conservative actions. The effectiveness of the proposed approach is illustrated through two numerical simulations, where we compare it against a standard robust MPC formulation.


Item Type:Article
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/lcsys.2020.3006819DOIArticle
ORCID:
AuthorORCID
Batkovic, Ivo0000-0002-2989-2319
Rosolia, Ugo0000-0002-1682-0551
Zanon, Mario0000-0001-5925-0440
Falcone, Paolo0000-0001-9587-9924
Additional Information:© 2020 IEEE. Manuscript received March 17, 2020; revised May 26, 2020; accepted June 17, 2020. Date of publication July 3, 2020; date of current version July 20, 2020. This work was supported in part by the Wallenberg Artificial Intelligence, Autonomous Systems and Software Program funded by Knut and Alice Wallenberg Foundation. Recommended by Senior Editor C. Seatzu. (Corresponding author: Ivo Batkovic.)
Funders:
Funding AgencyGrant Number
Knut and Alice Wallenberg FoundationUNSPECIFIED
Subject Keywords:Autonomous vehicles, uncertain systems, predictive control for nonlinear systems
Issue or Number:3
Record Number:CaltechAUTHORS:20200710-141338642
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20200710-141338642
Official Citation:I. Batkovic, U. Rosolia, M. Zanon and P. Falcone, "A Robust Scenario MPC Approach for Uncertain Multi-Modal Obstacles," in IEEE Control Systems Letters, vol. 5, no. 3, pp. 947-952, July 2021, doi: 10.1109/LCSYS.2020.3006819
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:104334
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:10 Jul 2020 22:13
Last Modified:28 Jul 2020 19:50

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