Frenet-Cartesian model representations for automotive obstacle avoidance within nonlinear MPC

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Rudolf Reiter, Armin Nurkanovic, Jonathan Frey, Moritz Diehl

Published: 2023, Last Modified: 15 May 2025Eur. J. Control 2023EveryoneRevisionsBibTeXCC BY-SA 4.0
Abstract: Highlights•Combining coordinate frames in automotive MPC reduces computation time.•Combining coordinate frames in automotive MPC exploits either advantages.•Ellipsoidal constraints formulations outperform other formulations.