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MATLAB Simulation of Networked Model Predictive Control for Vehicle Collision Avoidance

Bassam Alrifaee


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    <subfield code="a">Networked Model Predictive Control</subfield>
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    <subfield code="a">Vehicle Collision  Avoidance</subfield>
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    <subfield code="a">&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;</subfield>
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