Work

Quadratic Programming Vision-Based Control of a Scale-Model Autonomous Vehicle Navigating in Intersections

Year: 2025

Type: article

Abstract: This paper presents an optimal control for autonomous vehicles navigating in intersection scenarios. The proposed controller is based on solving a Quadratic Programming optimization technique to provide a feasible control signal respecting actuator constraints. The proposed controller was implemented in a scale-sized vehicle and is executed using only on-board perception and computing systems to retrieve the state dynamics, i.e., an inertial measurement unit and a monocular camera, to compute the estimated states through intelligent computer vision algorithms. The stability of the error signals of the closed-loop system was proved both mathematically and experimentally, using standard performance indices for ten trials. The proposed technique was compared against LQR and MPC strategies, showing 67% greater accuracy than the LQR approach and 53.9% greater accuracy than the MPC technique, while turning during the intersection. Moreover, the proposed QP controller showed significantly greater efficiency by reducing the control effort by 63.3% compared to the LQR, and by a substantial 78.4% compared to the MPC. These successful results proved that the proposed controller is an effective alternative for autonomously navigating within intersection scenarios.

Source: Actuators

DOI: 10.3390/act14100494

Authors: Esmeralda Enriqueta Mascota Muñoz, Oscar González Miranda, Xchel Ramos Soto, Juan Manuel Ibarra Zannatha, Santos Miguel Orozco Soto

Institutions: Instituto Politécnico Nacional, Centro de Investigación y de Estudios Avanzados del Instituto Politécnico Nacional, Free University of Bozen-Bolzano

Language: English

Topic: Vehicle Dynamics and Control Systems

Subfield: Automotive Engineering

Field: Engineering

Domain: Physical Sciences

SDG: Industry, innovation and infrastructure

Open Access status: gold

Estimated APC paid: $2,896