A Predictive Controller for Autonomous Vehicle Path Tracking

@article{Raffo2009APC,
  title={A Predictive Controller for Autonomous Vehicle Path Tracking},
  author={Guilherme V. Raffo and Guilherme K. Gomes and Julio E. Normey-Rico and Christian Roberto Kelber and Leandro Buss Becker},
  journal={IEEE Transactions on Intelligent Transportation Systems},
  year={2009},
  volume={10},
  pages={92-102}
}
This paper presents a model predictive controller (MPC) structure for solving the path-tracking problem of terrestrial autonomous vehicles. To achieve the desired performance during high-speed driving, the controller architecture considers both the kinematic and the dynamic control in a cascade structure. Our study contains a comparative study between two kinematic linear predictive control strategies: The first strategy is based on the successive linearization concept, and the other strategy… CONTINUE READING

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