An improved kinematic model predictive control for high-speed path tracking of autonomous vehicles

• Main Authors: Tang, Luqi, Yan, Fuwu, Zou, Bin, Wang, Kewei, Lv, Chen
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Article
• Language: English
• Published: 2021
• Subjects: Engineering::Mechanical engineering; Autonomous Vehicles; Path Tracking
• Online Access: https://hdl.handle.net/10356/145681
• Institution: Nanyang Technological University

Kinematic model predictive control (MPC) is well known for its simplicity and computational efficiency for path tracking of autonomous vehicles, however, it merely works well at low speed. In addition, earlier studies have demonstrated that tracking accuracy is improved by the feedback of yaw rate,...