TY - GEN
T1 - MPC-based vehicle trajectory planning via distributed ADMM in cloud control systems
AU - Zhan, Simeng
AU - Liu, Jinshi
AU - Gao, Runze
AU - Wang, Chao
AU - Xia, Yuanqing
N1 - Publisher Copyright:
© 2025 IEEE.
PY - 2025
Y1 - 2025
N2 - In this paper, aiming at the trajectory planning problem of unmanned vehicles in cloud control systems (CCSs), a trajectory planning algorithm based on model predictive control (MPC) is designed. CCSs upload the algorithm to the cloud, then transmit back the planned trajectory, reducing the computational load of the vehicle. The alternating direction method of multipliers (ADMM) algorithm is adopted to accelerate the optimization calculation of the MPC-based vehicle trajectory planning problem. Besides, a distribute ADMM algorithm is proposed by using Cholesky decomposition. The numerical results show that the proposed method enables unmanned vehicles to plan locally optimal trajectories.
AB - In this paper, aiming at the trajectory planning problem of unmanned vehicles in cloud control systems (CCSs), a trajectory planning algorithm based on model predictive control (MPC) is designed. CCSs upload the algorithm to the cloud, then transmit back the planned trajectory, reducing the computational load of the vehicle. The alternating direction method of multipliers (ADMM) algorithm is adopted to accelerate the optimization calculation of the MPC-based vehicle trajectory planning problem. Besides, a distribute ADMM algorithm is proposed by using Cholesky decomposition. The numerical results show that the proposed method enables unmanned vehicles to plan locally optimal trajectories.
KW - Alternating direction method of multipliers
KW - Cloud control systems
KW - Model predictive control
KW - Trajectory planning
UR - https://www.scopus.com/pages/publications/105040966897
U2 - 10.1109/CAC67268.2025.11487601
DO - 10.1109/CAC67268.2025.11487601
M3 - Conference contribution
AN - SCOPUS:105040966897
T3 - Proceedings - 2025 China Automation Congress, CAC 2025
SP - 1487
EP - 1492
BT - Proceedings - 2025 China Automation Congress, CAC 2025
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2025 China Automation Congress, CAC 2025
Y2 - 26 September 2025 through 28 September 2025
ER -