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MATLAB Simulation of Networked Model Predictive Control for Vehicle Collision Avoidance

Bassam Alrifaee


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  <identifier identifierType="DOI">10.5281/zenodo.1252992</identifier>
  <creators>
    <creator>
      <creatorName>Bassam Alrifaee</creatorName>
      <affiliation>RWTH Aachen University</affiliation>
    </creator>
  </creators>
  <titles>
    <title>MATLAB Simulation of Networked Model Predictive Control for Vehicle Collision Avoidance</title>
  </titles>
  <publisher>Zenodo</publisher>
  <publicationYear>2017</publicationYear>
  <subjects>
    <subject>Networked Model Predictive Control</subject>
    <subject>Vehicle Collision  Avoidance</subject>
    <subject>Distributed Model Predictive Control</subject>
    <subject>Priority-Based Non-Cooperative Distributed MPC</subject>
    <subject>Non-convex Optimization</subject>
  </subjects>
  <dates>
    <date dateType="Issued">2017-05-05</date>
  </dates>
  <language>en</language>
  <resourceType resourceTypeGeneral="Software"/>
  <alternateIdentifiers>
    <alternateIdentifier alternateIdentifierType="url">https://zenodo.org/record/1252992</alternateIdentifier>
  </alternateIdentifiers>
  <relatedIdentifiers>
    <relatedIdentifier relatedIdentifierType="URL" relationType="IsSupplementTo">https://github.com/balrifaee/Net-MPC_Collision-Avoidance/tree/v1.0.0</relatedIdentifier>
    <relatedIdentifier relatedIdentifierType="DOI" relationType="IsSupplementTo">10.18154/RWTH-2017-04199</relatedIdentifier>
    <relatedIdentifier relatedIdentifierType="DOI" relationType="IsSupplementTo">10.1016/j.ifacol.2016.10.399</relatedIdentifier>
    <relatedIdentifier relatedIdentifierType="DOI" relationType="IsSupplementTo">10.1109/CCTA.2017.8062778</relatedIdentifier>
    <relatedIdentifier relatedIdentifierType="DOI" relationType="IsSupplementTo">10.1109/ISIC.2014.6967623</relatedIdentifier>
    <relatedIdentifier relatedIdentifierType="DOI" relationType="IsVersionOf">10.5281/zenodo.1250192</relatedIdentifier>
  </relatedIdentifiers>
  <version>v1.0.0</version>
  <rightsList>
    <rights rightsURI="http://www.opensource.org/licenses/GPL-3.0">GNU General Public License v3.0 only</rights>
    <rights rightsURI="info:eu-repo/semantics/openAccess">Open Access</rights>
  </rightsList>
  <descriptions>
    <description descriptionType="Abstract">&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;</description>
  </descriptions>
</resource>
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