/MPC-Collision-Avoidance

Aggressive Vehicular Collision Avoidance Maneuvering using Model Predictive Control

Primary LanguageMATLAB

MPC Collision Avoidance

Using Model Predictive Control to initiate a lane-change maneuver to facilitate obstacle avoidance

Beginning with simple reference tracking maneuver

Transitioning to robust model able to operate in a wide range of initial conditions

Inspired by: Gray, Andrew, et al. “Semi-Autonomous Vehicle Control for Road Departure and Obstacle Avoidance.”