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MATLAB Simulation of Networked Model Predictive Control for Vehicle Collision Avoidance

Bassam Alrifaee


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    <dct:title>MATLAB Simulation of Networked Model Predictive Control for Vehicle Collision Avoidance</dct:title>
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    <dcat:keyword>Networked Model Predictive Control</dcat:keyword>
    <dcat:keyword>Vehicle Collision  Avoidance</dcat:keyword>
    <dcat:keyword>Distributed Model Predictive Control</dcat:keyword>
    <dcat:keyword>Priority-Based Non-Cooperative Distributed MPC</dcat:keyword>
    <dcat:keyword>Non-convex Optimization</dcat:keyword>
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    <dct:relation rdf:resource="https://github.com/balrifaee/Net-MPC_Collision-Avoidance/tree/v1.0.0"/>
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    <dct:description>&lt;p&gt;This project is implemented by Bassam Alrifaee, from&amp;nbsp;&lt;br&gt; the RWTH Aachen University, during his PhD thesis&amp;nbsp;&lt;br&gt; titled &amp;quot;Networked Model Predictive Control for Vehicle Collision&amp;nbsp;&lt;br&gt; Avoidance&amp;quot;. Helpful contributions were made by the following students:&lt;br&gt; Janis Maczijewski, Marwan Chawa, Mohamed Hetaba, Mostafa Nabil,&amp;nbsp;&lt;br&gt; Kevin Kostyszyn, Mark Azer, Masoumeh G. Mamaghani&lt;/p&gt; &lt;p&gt;Also thanks to Arthur Richards&amp;#39; work which provided a starting point&amp;nbsp;&lt;br&gt; for the initial implementation.: A. G. Richards and J. P. How,&amp;nbsp;&lt;br&gt; &amp;quot;Aircraft Trajectory Planning with Collision Avoidance using Mixed&amp;nbsp;&lt;br&gt; Integer Linear Programming&amp;quot; in Proceedings of the American Control&amp;nbsp;&lt;br&gt; Conference, 2002.&lt;/p&gt; &lt;p&gt;Users are requested to cite the following in any work&amp;nbsp;&lt;br&gt; utilizing this software:&lt;br&gt; # This MATLAB simulation&lt;br&gt; [1] B. Alrifaee. MATLAB Simulation of Networked Model Predictive Control&amp;nbsp;&lt;br&gt; for Vehicle Collision Avoidance, May 2017. https://doi.org/10.5281/zenodo.1252992&lt;br&gt; # PhD thesis&lt;br&gt; [2] B. Alrifaee. Networked Model Predictive Control for Vehicle&amp;nbsp;&lt;br&gt; Collision Avoidance. PhD thesis, RWTH Aachen University, 2017.&amp;nbsp;&lt;br&gt; # Distributed MPC&lt;br&gt; [3] B. Alrifaee, F. J. He\sseler, and D. Abel. Coordinated&amp;nbsp;&lt;br&gt; Non-Cooperative Distributed Model Predictive Control for Decoupled&amp;nbsp;&lt;br&gt; Systems Using Graphs. In 6th IFAC Workshop on Distributed Estimation&amp;nbsp;&lt;br&gt; and Control in Networked Systems NecSys 2016, Tokyo, Japan, September 2016.&amp;nbsp;&lt;br&gt; # Optimization&lt;br&gt; [4] B. Alrifaee, J. Maczijewski, and D. Abel. Sequential Convex&amp;nbsp;&lt;br&gt; Programming MPC for Dynamic Vehicle Collision Avoidance. In 2017 IEEE&amp;nbsp;&lt;br&gt; Conference on Control Technology and Applications (CCTA), pages 2202&amp;ndash;2207,&amp;nbsp;&lt;br&gt; Aug 2017.&lt;br&gt; [5] B. Alrifaee, M. G. Mamaghani, and D. Abel. Centralized Non-Convex&amp;nbsp;&lt;br&gt; Model Predictive Control for Cooperative Collision Avoidance of&amp;nbsp;&lt;br&gt; Networked Vehicles. In Intelligent Control (ISIC), 2014 IEEE&amp;nbsp;&lt;br&gt; International Symposium on, pages 1583-1588, Oct 2014.&amp;nbsp;&lt;/p&gt; &lt;p&gt;&lt;br&gt; Video of Experimental Results:&lt;br&gt; https://youtu.be/X2syxG5GI6g&lt;br&gt; &amp;nbsp;&lt;br&gt; Video of the Simulation Results:&lt;br&gt; https://youtu.be/zS3UBx09O6M&lt;br&gt; &amp;nbsp;&lt;br&gt; RWTH Aachen University:&lt;br&gt; http://www.rwth-aachen.de/&lt;/p&gt;</dct:description>
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