@article{ref1,
title="A Predictive Controller for Autonomous Vehicle Path Tracking",
journal="IEEE transactions on intelligent transportation systems",
year="2009",
author="Raffo, G.v. and Gomes, G. K. and Normey-Rico, J.e. and Kelber, C.r. and Becker, L.b.",
volume="10",
number="1",
pages="92-102",
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.<p />",
language="",
issn="1524-9050",
doi="10.1109/TITS.2008.2011697",
url="http://dx.doi.org/10.1109/TITS.2008.2011697"
}