Reachability-Aware Collision Avoidance for Tractor-Trailer System with Non-Linear MPC and Control Barrier Function
Yucheng Tang,Ilshat Mamaev,Jing Qin,Christian Wurll,Björn Hein,Yucheng Tang,Ilshat Mamaev,Jing Qin,Christian Wurll,Björn Hein
This paper proposes a reachability-aware model predictive control with a discrete control barrier function for backward obstacle avoidance for a tractor-trailer system. The framework incorporates the state-variant reachable set obtained through sampling-based reachability analysis and symbolic regression into the objective function of model predictive control. By optimizing the intersection of the...
