Motion control of an autonomous vehicle at driving limits
This report explored the driving limit of the autonomous vehicle using MPC control to trace the reference trajectory. The first objective is to develop a MPC controller. The kinematic model of vehicle was established, and state-space equations were derived from the kinematic model. The state-space e...
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| Format: | Final Year Project |
| Language: | English |
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Nanyang Technological University
2021
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| Online Access: | https://hdl.handle.net/10356/150473 |
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| Institution: | Nanyang Technological University |
| Language: | English |