# Efficient Real-Time Obstacle Avoidance Using Multi-Objective Nonlinear Model Predictive Control and Semi-Smooth Newton Method

### Mostafa Emam, Thomas Rottmann, Matthias Gerdts

#### 2024

#### Abstract

This work discusses the theory and methodology of applying Nonlinear Model Predictive Control (NMPC) in an efficient manner to achieve real-time path planning and obstacle avoidance for autonomous vehicles. First, we explain the optimization problem formulation and the numerical solution approach using a semi-smooth Newton method adapted for nonlinear problems. Then, an MPC path planning problem is described in terms of the vehicle model, the controller design, and the mathematical representation of obstacles as proper system constraints. Afterwards, the developed controller is numerically evaluated for different vehicle models in a simulated environment to dynamically assess its flexibility and real-time performance, which serves as a prerequisite to deferred real-life testing.

Download#### Paper Citation

#### in Harvard Style

Emam M., Rottmann T. and Gerdts M. (2024). **Efficient Real-Time Obstacle Avoidance Using Multi-Objective Nonlinear Model Predictive Control and Semi-Smooth Newton Method**. In *Proceedings of the 10th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS*; ISBN 978-989-758-703-0, SciTePress, pages 178-189. DOI: 10.5220/0012738400003702

#### in Bibtex Style

@conference{vehits24,

author={Mostafa Emam and Thomas Rottmann and Matthias Gerdts},

title={Efficient Real-Time Obstacle Avoidance Using Multi-Objective Nonlinear Model Predictive Control and Semi-Smooth Newton Method},

booktitle={Proceedings of the 10th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS},

year={2024},

pages={178-189},

publisher={SciTePress},

organization={INSTICC},

doi={10.5220/0012738400003702},

isbn={978-989-758-703-0},

}

#### in EndNote Style

TY - CONF

JO - Proceedings of the 10th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS

TI - Efficient Real-Time Obstacle Avoidance Using Multi-Objective Nonlinear Model Predictive Control and Semi-Smooth Newton Method

SN - 978-989-758-703-0

AU - Emam M.

AU - Rottmann T.

AU - Gerdts M.

PY - 2024

SP - 178

EP - 189

DO - 10.5220/0012738400003702

PB - SciTePress