{"id":"https://openalex.org/W4213447177","doi":"https://doi.org/10.1109/tiv.2022.3153633","title":"Accurate Pseudospectral Optimization of Nonlinear Model Predictive Control for High-Performance Motion Planning","display_name":"Accurate Pseudospectral Optimization of Nonlinear Model Predictive Control for High-Performance Motion Planning","publication_year":2022,"publication_date":"2022-02-23","ids":{"openalex":"https://openalex.org/W4213447177","doi":"https://doi.org/10.1109/tiv.2022.3153633"},"language":"en","primary_location":{"id":"doi:10.1109/tiv.2022.3153633","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2022.3153633","pdf_url":null,"source":{"id":"https://openalex.org/S4210199657","display_name":"IEEE Transactions on Intelligent Vehicles","issn_l":"2379-8858","issn":["2379-8858","2379-8904"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Intelligent Vehicles","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5084390339","display_name":"Feng Gao","orcid":"https://orcid.org/0000-0002-3136-1410"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]},{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Feng Gao","raw_affiliation_strings":["College of Mechanical and Vehicle Engineering, Chongqing University, Chongqing, China","Sichuan Research Institute, Shanghai Jiao Tong University, Chengdu, China"],"raw_orcid":"https://orcid.org/0000-0002-3136-1410","affiliations":[{"raw_affiliation_string":"College of Mechanical and Vehicle Engineering, Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]},{"raw_affiliation_string":"Sichuan Research Institute, Shanghai Jiao Tong University, Chengdu, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100462713","display_name":"Yu Han","orcid":"https://orcid.org/0000-0002-4753-526X"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Han","raw_affiliation_strings":["College of Mechanical and Vehicle Engineering, Chongqing University, Chongqing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Vehicle Engineering, Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100747108","display_name":"Shengbo Eben Li","orcid":"https://orcid.org/0000-0003-4923-3633"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shengbo Eben Li","raw_affiliation_strings":["School of Vehicle and Mobility, State Key Laboratory for Automotive Safety and Energy, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-4923-3633","affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, State Key Laboratory for Automotive Safety and Energy, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011184498","display_name":"Shaobing Xu","orcid":"https://orcid.org/0000-0002-4127-2411"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shaobing Xu","raw_affiliation_strings":["Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":"https://orcid.org/0000-0002-4127-2411","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057474615","display_name":"Dongfang Dang","orcid":"https://orcid.org/0000-0003-0854-286X"},"institutions":[{"id":"https://openalex.org/I4210113138","display_name":"Guangzhou Automobile Group (China)","ror":"https://ror.org/026fzn952","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210113138"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dongfang Dang","raw_affiliation_strings":["Research and Development Center of Guangzhou Automobile Group, Guangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research and Development Center of Guangzhou Automobile Group, Guangzhou, China","institution_ids":["https://openalex.org/I4210113138"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5084390339"],"corresponding_institution_ids":["https://openalex.org/I158842170","https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":2.5068,"has_fulltext":false,"cited_by_count":35,"citation_normalized_percentile":{"value":0.88834476,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"8","issue":"2","first_page":"1034","last_page":"1045"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/discretization","display_name":"Discretization","score":0.7168743014335632},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6337560415267944},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5786402225494385},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5598950386047363},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.523706316947937},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.45875027775764465},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4495507478713989},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.44509467482566833},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.44331422448158264},{"id":"https://openalex.org/keywords/interpolation","display_name":"Interpolation (computer graphics)","score":0.42139625549316406},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.31222397089004517},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.19659867882728577},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.1670166254043579},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1656244695186615},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.10281288623809814},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09586858749389648}],"concepts":[{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.7168743014335632},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6337560415267944},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5786402225494385},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5598950386047363},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.523706316947937},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.45875027775764465},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4495507478713989},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.44509467482566833},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.44331422448158264},{"id":"https://openalex.org/C137800194","wikidata":"https://www.wikidata.org/wiki/Q11713455","display_name":"Interpolation (computer graphics)","level":3,"score":0.42139625549316406},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.31222397089004517},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.19659867882728577},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.1670166254043579},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1656244695186615},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.10281288623809814},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09586858749389648},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tiv.2022.3153633","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2022.3153633","pdf_url":null,"source":{"id":"https://openalex.org/S4210199657","display_name":"IEEE Transactions on Intelligent Vehicles","issn_l":"2379-8858","issn":["2379-8858","2379-8904"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Intelligent Vehicles","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.5,"display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G4123658134","display_name":null,"funder_award_id":"cstc2019jcyj-zdxmX0018","funder_id":"https://openalex.org/F4320323172","funder_display_name":"Natural Science Foundation of Chongqing"},{"id":"https://openalex.org/G6178274135","display_name":null,"funder_award_id":"KFY2209","funder_id":"https://openalex.org/F4320326925","funder_display_name":"State Key Laboratory of Automotive Safety and Energy"}],"funders":[{"id":"https://openalex.org/F4320323172","display_name":"Natural Science Foundation of Chongqing","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320326925","display_name":"State Key Laboratory of Automotive Safety and Energy","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W1807258779","https://openalex.org/W1878563552","https://openalex.org/W1970411044","https://openalex.org/W1971086298","https://openalex.org/W1976467619","https://openalex.org/W1980693151","https://openalex.org/W1989210844","https://openalex.org/W1999136819","https://openalex.org/W2148361676","https://openalex.org/W2201235138","https://openalex.org/W2306644740","https://openalex.org/W2307155630","https://openalex.org/W2517622066","https://openalex.org/W2576586002","https://openalex.org/W2750313560","https://openalex.org/W2762651111","https://openalex.org/W2785252000","https://openalex.org/W2795349851","https://openalex.org/W2806851394","https://openalex.org/W2807126442","https://openalex.org/W2807455133","https://openalex.org/W2842089854","https://openalex.org/W2863749457","https://openalex.org/W2885667603","https://openalex.org/W2886283377","https://openalex.org/W2952762354","https://openalex.org/W2963929958","https://openalex.org/W2973661705","https://openalex.org/W2980168227","https://openalex.org/W2990494268","https://openalex.org/W3004750882","https://openalex.org/W3023835885","https://openalex.org/W3095035924","https://openalex.org/W3102875305","https://openalex.org/W3113963990","https://openalex.org/W4300528142","https://openalex.org/W6743968951","https://openalex.org/W6748163326","https://openalex.org/W6845147858"],"related_works":["https://openalex.org/W4380590094","https://openalex.org/W2050548713","https://openalex.org/W3119736302","https://openalex.org/W3200041777","https://openalex.org/W4386464271","https://openalex.org/W2015961810","https://openalex.org/W2956606787","https://openalex.org/W4324119010","https://openalex.org/W3110652258","https://openalex.org/W2971758839"],"abstract_inverted_index":{"Nonlinear":[0],"Model":[1],"Predictive":[2],"Control":[3],"(NMPC)":[4],"is":[5,73,100,121,167],"an":[6,30],"effective":[7],"method":[8],"for":[9,127],"motion":[10,33,165],"planning":[11],"of":[12,20,67,80,107,114,157],"automated":[13],"vehicles,":[14],"but":[15,92],"the":[16,50,55,60,64,70,77,84,105,112,125,132,162,185],"high":[17,65],"computational":[18],"load":[19,152],"numerical":[21,51,173],"optimization":[22,52,56],"limits":[23],"its":[24],"practical":[25],"application.":[26],"This":[27],"paper":[28],"designs":[29],"NMPC":[31,163],"based":[32,110,164],"planner":[34,166],"and":[35,43,58,83,134,144,153,169,175,193,197],"presents":[36],"two":[37],"techniques,":[38],"named":[39],"adaptive":[40,98],"Lagrange":[41,71,108],"discretization":[42,95,115],"hybrid":[44,119],"obstacle":[45,128],"avoidance":[46,129],"constraints,":[47],"to":[48,75,87,103,123],"accelerate":[49],"by":[53,130,171,195],"reducing":[54],"variables":[57],"simplifying":[59],"non-convex":[61],"constraints.":[62],"Given":[63],"nonlinearity":[66],"vehicle":[68,81],"dynamics,":[69],"interpolation":[72],"adopted":[74],"convert":[76],"state":[78],"equation":[79],"dynamics":[82],"objective":[85],"function":[86],"ensure":[88,141],"a":[89,118,147],"preset":[90],"accuracy":[91,192],"with":[93,182],"less":[94],"points.":[96],"An":[97],"strategy":[99,120],"then":[101],"designed":[102],"adjust":[104],"order":[106],"polynomials":[109],"on":[111,160],"distribution":[113],"error.":[116],"Moreover,":[117],"presented":[122],"construct":[124],"constraints":[126],"combing":[131],"elliptic":[133],"linear":[135],"time-varying":[136],"methods":[137],"together.":[138],"It":[139],"can":[140],"driving":[142],"safety":[143],"also":[145],"make":[146],"good":[148],"balance":[149],"between":[150],"computing":[151],"accuracy.":[154],"The":[155],"performance":[156],"these":[158,189],"techniques":[159,190],"accelerating":[161],"validated":[168],"analyzed":[170],"comparative":[172],"simulations":[174],"experimental":[176],"tests":[177],"under":[178],"various":[179],"scenarios.":[180],"Compared":[181],"traditional":[183],"methods,":[184],"results":[186],"show":[187],"that":[188],"improve":[191],"efficiency":[194],"74%":[196],"60%,":[198],"respectively.":[199]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}