EMPC with adaptive APF of obstacle avoidance and trajectory tracking for autonomous electric vehicles

In this paper, event-triggered model predictive control (EMPC) with adaptive artificial potential field (APF) is designed to realize obstacle avoidance and trajectory tracking for autonomous electric vehicles. An adaptive APF cost function is added to achieve obstacle avoidance and guarantee stability. The optimization problem for MPC is feasible by considering a special obstacle avoidance constraint. An event-triggered mechanism is proposed to reduce computational burden and ensure effectiveness of obstacle avoidance. Input and state constraints of autonomous electric vehicles are considered in both feasibility and stability by a robust terminal set. Effectiveness of both obstacle avoidance and trajectory tracking is shown by experimental results on autonomous electric vehicles.