An accurate trajectory tracking method for low-speed unmanned vehicles based on model predictive control
Lifen Wang,
Sizhong Chen,
Hongbin Ren
Abstract:Trajectory tracking on a low-speed vehicle using the model predictive control (MPC) algorithm usually assumes a simple road terrain. This assumption does not correspond to the actual road situation, leading to low tracking accuracy. Therefore, a trajectory tracking method considering road curvature based on MPC is proposed in this paper. In this method, the controller can automatically switch between MPC types. Linear model predictive control (LMPC) is selected for small road curvatures, while nonlinear model … Show more
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