![]() ![]() For autonomous driving applications the toolbox provides an interface to CommonRoad, making it easy to test the algorithms on different traffic scenarios. ![]() Currently, the three motion primitive based control algorithms optimization based control, convex interpolation control, and generator space control are implemented.įor model predictive control the controller is constructed and verified at runtime, where the computation time required for the optimization based construction of the controller as well as the verification with reachability analysis is explicitely considered by the algorithm.ĪROC contains an implementation of a maneuver automaton, which can be applied for online control using the motion primitives constructed offline. The following points summarize the main capabilities of the AROC toolbox:įor motion prmitive based control optimial controllers for many motion primitives are synthesized offline and then applied for online control using a maneuver automaton. AROC is implemented in MATLAB, and the CORA toolbox is used to calculate reachable sets. The toolbox considers general nonlinear systems with disturbances and input constraints. The Automated Reachset Optimal Control (AROC) toolbox automatically constructs formally verified controllers for solving reach-avoid problems using reachability analysis. ![]()
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