Citation

Raffo GV, Gomes GK, Normey-Rico JE, Kelber CR, Becker LB. IEEE Trans. Intel. Transp. Syst. 2009; 10(1): 92-102.

Copyright

(Copyright © 2009, IEEE (Institute of Electrical and Electronics Engineers))

DOI

10.1109/TITS.2008.2011697

PMID

unavailable

Abstract

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 combines a local reference frame with an approaching path strategy. Our goal is to search for the strategy that best comprises the performance and hardware-cost criteria. For the dynamic controller, a decentralized predictive controller based on a linearized model of the vehicle is used. Practical experiments obtained using an autonomous ldquoMini-Bajardquo vehicle equipped with an embedded computing system are presented. These results confirm that the proposed MPC structure is the solution that better matches the target criteria.