Efficient mixed integer programming for autonomous overtaking

in American Control Conference 2017: Efficient mixed integer programming for autonomous overtaking, 2017
Author(s):Molinari F., Nguyen N., Del Re L.
This paper addresses the autonomous overtaking problem using model predictive control. Accordingly, a mixed integer programming approach is put forward in which the surrounding vehicles are considered as moving obstacles. Unlike existing solutions using mixed integer programming, this paper presents more efficient formulations by reducing the number of binary variables, possibly enabling to accelerate the online computation. These algorithms are illustrated via a numerical example in the accurate vehicle simulator IPG CarMaker.
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