Model Predictive Control for Self Driving Cars: A Case Study Using the Simulator CARLA within a ROS Framework

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2022

Autores

Morais, DR (Autor) Outra; Aguiar, AP (Autor) FEUP

Ata de Conferência Internacional

Título: IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2022, Santa Maria da Feira, Portugal, April 29-30, 2022

Páginas: 124-129

Indexação

ISI Web of Knowledge - 0 Citações

Scopus - 0 Citações

Outras Informações

ID Authenticus: P-00W-SYH

DOI: 10.1109/icarsc55462.2022.9784788

Abstract (EN): Over the past few years, autonomous driving vehicles have been growing rapidly due to advances in technology, namely computing power and improvements in sensors and actuators. This paper presents a research work that addresses the autonomous driving problem. More specifically, a Model Predictive Control (MPC) is implemented for the lateral and longitudinal control of an autonomous vehicle. The main goal of this study is to validate the robustness, performance and safety of the developed algorithm in simulation, using the widely known self-driving simulator CARLA together with the Robot Operating System (ROS) framework. The implemented method provides a realistic simulation and contributes to the area of software development for driving cars offering passengers a more comfortable and safer control of the vehicle.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6