OPTIPLAN: A Matlab Toolbox for Model Predictive Control with Obstacle Avoidance. Issue 1 (July 2017)

• Record Type: Journal Article
• Authors: Janeček, Filip; Klaučo, Martin; Kalúz, Martin; Kvasnica, Michal
• Is Part Of: IFAC-PapersOnLine. Volume 50:Issue 1(2017)
• Page Start: 531
• Page End: 536
• Publication Date: 2017-07
• Subjects: collision avoidance -- autonomous vehicles -- model predictive control; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2017.08.057
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: This paper introduces OPTIPLAN - a Matlab-based toolbox for formulating, solving, and simulating model predictive controllers (MPC) with embedded obstacle avoidance functionality. The toolbox offers a simple, yet powerful user interface that allows control researchers and practitioners to set up even complex control problems with just a few lines of code. OPTIPLAN fully automates tedious mathematical and technical details and let the user concentrate on the problem formulation. It features a rich set of tools to perform closed-loop simulations with MPC controllers and to visualize the results in an appealing way. From a theoretical point of view, OPTIPLAN tackles non-convex obstacle avoidance constraints in two ways: either by using binary variables or by resorting to suboptimal, but convex, time-varying constraints.