Authors: Francesco Seccamonte, Juraj Kabzan, Emilio Frazzoli
Published: Sept. 1, 2019
Summary: We consider the problem of maximizing distance to road agents for a self-driving car. To this extent, we employ a Model Predictive Control (MPC) approach for the steering tracking control of an Autonomous Vehicle (AV). Specifically, we first present a traditional MPC controller, which is then extended to encode the clearance maximization goal by manipulating its cost function and constraints.