en Linear Time Varying MPC Based Path Planning of an Autonomous Vehicle via Convex Optimization کنترل Control پژوهشي Research <div dir="ltr" style="text-align: justify;">In this paper a new method is introduced for path planning of an autonomous vehicle. In this method, the environment is considered cluttered and with some uncertainty sources. Thus, the state of detected object should be estimated using an optimal filter. To do so, the state distribution is assumed Gaussian. Thus the state vector is estimated by a Kalman filter at each time step. The estimation of the probabilistic distribution can be shown using an error ellipse for a constant collision probability. Analytical forms of error ellipses can be obtained by quadratic inequalities. These quadratic inequalities make the optimization problem nonconvex. Thus, these inequalities are relaxed by applying a linearization approach. Finally, the optimization problem is reformulated to a convex optimization problem. <span style="color:black;">There are some strong algorithms for solving a convex optimization problem, so</span> the consequent path planning method can be solved efficiently with considerable performance that will be obtained in the end of this paper.</div> <div style="text-align: justify;">In this paper a new method is introduced for path planning of an autonomous vehicle. In this method, the environment is considered cluttered and with some uncertainty sources. Thus, the state of detected object should be estimated using an optimal filter. To do so, the state distribution is assumed Gaussian. Thus the state vector is estimated by a Kalman filter at each time step. The estimation of the probabilistic distribution can be shown using an error ellipse for a constant collision probability. Analytical forms of error ellipses can be obtained by quadratic inequalities. These quadratic inequalities make the optimization problem nonconvex. Thus, these inequalities are relaxed by applying a linearization approach. Finally, the optimization problem is reformulated to a convex optimization problem. There are some strong algorithms for solving a convex optimization problem, so the consequent path planning method can be solved efficiently with considerable performance that will be obtained in the end of this paper.</div> Stochastic Path Planning, Path Planning Under Uncertainty, Linear Time-Varying MPC, Quadratic Programming, Error Ellipse, Convex Optimization. Stochastic Path Planning, Path Planning Under Uncertainty, Linear Time-Varying MPC, Quadratic Programming, Error Ellipse, Convex Optimization. 79 88 http://jiaeee.com/browse.php?a_code=A-10-1-253&slc_lang=en&sid=1 Mohsen Ahmadi Mousavi Mohsen Ahmadi Mousavi s.m.a.mousavi@ut.ac.ir 10031947532846001845 10031947532846001845 Yes Graduate Student of Mechatronics Engineering, Faculty of New Sciences and Technologies, University of Tehran, Tehran, Iran Behzad Moshiri Behzad Moshiri moshiri@ut.ac.ir 10031947532846001846 10031947532846001846 No Professor, Control and Intelligent Processing Center of Excellence (CIPCE (, College of Engineering, School of Electrical and Computer Engineering, University of Tehran, Tehran, Iran Zainabolhoda Heshmati Zainabolhoda Heshmati zheshmati@ut.ac.ir 10031947532846001847 10031947532846001847 No Assistant Professor, Faculty of New Sciences and Technologies, University of Tehran, Tehran, Iran