Frenet-Cartesian Model Representations for Automotive Obstacle Avoidance within Nonlinear MPC

no code implementations • 22 Dec 2022 • Rudolf Reiter, Armin Nurkanović, Jonathan Frey, Moritz Diehl

We specify costs and collision avoidance constraints in the more advantageous coordinate frame, derive appropriate formulations and compare different obstacle constraints.

Collision Avoidance Model Predictive Control