Model Predictive Control

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Table of contents

1 Introduction 
1.1 Problem formulation
1.2 Scope
1.3 Outline
2 Background 
2.1 Model Predictive Control
2.1.1 Nonlinear Model Predictive Control
2.1.2 Obstacle Avoidance
2.2 Reachability Analysis
2.2.1 Zonotopes
2.2.2 Zonotope order reduction
2.2.3 Reachable sets
3 Methods 
3.1 Autonomous vehicle
3.1.1 Vehicle modeling
3.1.2 Obstacle avoidance NMPC
3.2 Edge server
4 Experiments
4.1 Implementation overview
4.2 Simulation setup
5 Results 
5.1 Parameters evaluation
5.1.1 Time step for the reachable set computation
5.1.2 Zonotope reduction technique
5.2 Simulation
6 Conclusions 
7 Future Work 
Bibliography