Motion control of an autonomous vehicle at driving limits

• المؤلف الرئيسي: Luo, Jixin
• مؤلفون آخرون: Lyu Chen
• التنسيق: Final Year Project
• اللغة: English
• منشور في: Nanyang Technological University 2021
• الموضوعات: Engineering::Mechanical engineering
• الوصول للمادة أونلاين: https://hdl.handle.net/10356/150473

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...