Full Content is available to subscribers

Subscribe/Learn More  >

A Multi-Stage Optimization Formulation for MPC-Based Obstacle Avoidance in Autonomous Vehicles Using a LIDAR Sensor

[+] Author Affiliations
Jiechao Liu, Jeffrey L. Stein, Tulga Ersal

University of Michigan, Ann Arbor, MI

Paramsothy Jayakumar


Paper No. DSCC2014-6269, pp. V002T30A006; 10 pages
  • ASME 2014 Dynamic Systems and Control Conference
  • Volume 2: Dynamic Modeling and Diagnostics in Biomedical Systems; Dynamics and Control of Wind Energy Systems; Vehicle Energy Management Optimization; Energy Storage, Optimization; Transportation and Grid Applications; Estimation and Identification Methods, Tracking, Detection, Alternative Propulsion Systems; Ground and Space Vehicle Dynamics; Intelligent Transportation Systems and Control; Energy Harvesting; Modeling and Control for Thermo-Fluid Applications, IC Engines, Manufacturing
  • San Antonio, Texas, USA, October 22–24, 2014
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-4619-3
  • Copyright © 2014 by ASME


The dynamics of an autonomous unmanned ground vehicle (UGV) that is at least the size of a passenger vehicle are critical to consider during obstacle avoidance maneuvers to ensure vehicle safety. Methods developed so far do not take vehicle dynamics and sensor limitations into account simultaneously and systematically to guarantee the vehicle’s dynamical safety during avoidance maneuvers. To address this gap, this paper presents a model predictive control (MPC) based obstacle avoidance algorithm for high-speed, large-size UGVs that perceives the environment only through the information provided by a sensor, takes into account the sensing and control delays and the dynamic limitations of the vehicle, and provides smooth and continuous optimal solutions in terms of minimizing travel time. Specifically, information about the environment is obtained using an on-board Light Detection and Ranging (LIDAR) sensor. Ensuring the vehicle’s dynamical safety is translated into avoiding single tire lift-off. The obstacle avoidance problem is formulated as a multi-stage optimal control problem with a unique optimal solution. To solve the optimal control problem, it is transcribed into a nonlinear programming (NLP) problem using a pseudo-spectral method, and solved using the interior-point method. Sensing and control delays are explicitly taken into consideration in the formulation. Simulation results show that the algorithm is capable of generating smooth control commands to avoid obstacles while guaranteeing dynamical safety.

Copyright © 2014 by ASME



Interactive Graphics


Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In