Model Predictive Control for Autonomous Vehicle Tracking

Vu Trieu Minh, Reza Moezzi, Klodian Dhoska & John Pumwa
This study develops model predictive control (MPC) schemes for controlling autonomous vehicles tracking on feasible trajectories generated from flatness or polynomial equations. All of the vehicle online moving parameters including coordinate positions, body orientation angle, and steering angle are included into the MPC optimizer for calculating the real-time optimal inputs for the vehicle linear velocity and its steering velocity to minimize the errors between the desired and the actual course of travel. The use of...
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