# MPC path-planner for autonomous driving solved by genetic algorithm technique

arXiv: https://arxiv.org/abs/2102.01211 · HTML: https://mlsanity.com/paper/2102.01211/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 1 Feb 2021.

## Built on by (most cited first, 1 of 1)

- [NMPC trajectory planner for urban autonomous driving](https://mlsanity.com/paper/2105.04034/) (2021)

## Abstract (arXiv)

Autonomous vehicle's technology is expected to be disruptive for automotive industry in next years. This paper proposes a novel real-time trajectory planner based on a Nonlinear Model Predictive Control (NMPC) algorithm. A nonlinear single track vehicle model with Pacejka's lateral tyre formulas has been implemented. The numerical solution of the NMPC problem is obtained by means of the implementation of a novel genetic algorithm strategy. Numerical results are discussed through simulations that shown a reasonable behavior of the proposed strategy in presence of static or moving obstacles as well as in a wide rage of road friction conditions. Moreover a real-time implementation is made possible by the reported computational time analysis.