TY  - JOUR
PY  - 2009//
TI  - A Predictive Controller for Autonomous Vehicle Path Tracking
JO  - IEEE transactions on intelligent transportation systems
A1  - Raffo, G.v.
A1  - Gomes, G. K.
A1  - Normey-Rico, J.e.
A1  - Kelber, C.r.
A1  - Becker, L.b.
SP  - 92
EP  - 102
VL  - 10
IS  - 1
N2  - 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 /> 
LA  - 
SN  - 1524-9050
UR  - http://dx.doi.org/10.1109/TITS.2008.2011697
ID  - ref1
ER  -