2020/10/13 by Ali Boyali, Simon Thompson, Boyali, Ali +3 · 1 citation
Computer Science · Engineering · #FOS: Mathematics #Formal Methods in Verification #Optimization and Control (math.OC) #Robotic Path Planning Algorithms #Vehicle Dynamics and Control Systems
paper · pdf · doi:10.48550/arxiv.2010.06276
openalex publication_date 2020/10/13 · openalex created_date 2022/07/25 · openalex updated_date 2026/07/28
In this paper, we present the application of successive convexification\nmethods to autonomous driving problems borrowed from recent aerospace\nliterature. We formulate two optimization problems within the successive\nconvexification framework. Using arc-length parametrization in the vehicle\nkinematic model, we solve the speed planning and model predictive control\nproblems with a range of constraints and obstacle configurations. This paper is\nthe first systematic application of successive convexification methods from the\naerospace literature to the autonomous driving problems. In addition, we show a\nsimple application of logical state-trigger constraints in a continuous\nformulation of the optimization by including an evasion maneuver in the\nsimulations section. We give details of the problem formulation and\nimplementation and present and discuss the results.\n