A Multiobjective MPC Approach for Autonomously Driven Electric Vehicles

Understand

We present a new algorithm for model predictive control of non-linear systems with respect to multiple, conflicting objectives.

• The idea is to provide a possibility to change the objective in real-time, e.g.~as a reaction to changes in the environment or the system state itself.
• The algorithm utilises elements from various well-established concepts, namely multiobjective optimal control, economic as well as explicit model predictive control and motion planning with motion primitives.
• In order to realise real-time applicability, we split the computation into an online and an offline phase and we utilise symmetries in the open-loop optimal control problem to reduce the number of multiobjective optimal control problems that need to be solved in the offline phase.