GPU-Parallelized Iterative LQR with Input Constraints for Fast Collision Avoidance of Autonomous Vehicles
Yeongseok Lee,Minsu Cho,Kyung-Soo Kim,Yeongseok Lee,Minsu Cho,Kyung-Soo Kim
Collision avoidance in emergency situations is a crucial and challenging task in motion planning for autonomous vehicles. Especially in the field of optimization-based planning using nonlinear model predictive control, many efforts to achieve real-time performance are still ongoing. Among various approaches, the iterative linear quadratic regulator (iLQR) is known as an efficient means of nonlinea...
