von Herrn Oliver Schumann, M. Sc.
Kurzfassung:
This seminar is about a new planning approach called Model Predictive Multi Contouring Control (MPMCC) which is an extended version of the Model Predictive Contouring Control (MPCC) algorithm.
MPCC leverages standard Model Predictive Control (MPC) to include one additional Frenet state at the reference point of the vehicle model that can be penalized.
Our approach includes multiple contouring points distributed over the vehicle shape, providing multiple Frenet states.
This results in more dedicated cost functions that allow the MPMCC to generate safer and more intuitive trajectories.
Zu diesem Vortrag wird recht herzlich eingeladen.