특수목적 자율주행 차량의 안전필수 모션계획을 위한 3D LiDAR 기반 비선형 모델 예측 제어

To ensure safe navigation of special-purpose autonomous vehicles in unstructured environments, precise motion planning that adapts to uncertain environmental changes is essential. In this study, we propose a nonlinear model predictive control framework that optimizes obstacle avoidance and path tracking by performing precise environmental perception through real-time sensor fusion using LiDAR and IMU sensors. Particularly, the proposed framework considers environmental uncertainties to achieve stable path planning, and its performance is validated through Unreal Engine-based simulations. Ultimately, we aim to implement the proposed algorithm in real-world environments to achieve safe motion planning of vehicles.