The DOI matches its Crossref record.
A Predictive Controller for Autonomous Vehicle Path Tracking
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.
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Citations
Cited by
Perception, Planning, Control, and Coordination for Autonomous Vehicles
Pendleton, S., Andersen, H., Du, X., Shen, X., Meghjani, M., Eng, Y., Rus, D., & Ang, M. (2017) · Machines · doi:10.3390/machines5010006 · Cited by 657
Metadata
- Authors
- Raffo, G. V., Gomes, G. K., Normey-Rico, J. E., Kelber, C. R., & Becker, L. B.
- Venue
- IEEE Transactions on Intelligent Transportation Systems
- Published
- 2009-03
- Volume
- 10
- Issue
- 1
- Pages
- 92-102
- ISSN
- 1524-9050 (ISSN-L)
- 1558-0016
- OpenAlex
- W2172117433
- Cited by
- 342
- References
- 0
- FWCI
- 19.21
- Type
- journal article
- Language
- en
- Open access
- closed
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- CoChat. (2026). Citation check: A Predictive Controller for Autonomous Vehicle Path Tracking. https://app.cochat.ai/papers/10.1109/tits.2008.2011697
- The paper
- Raffo, G. V., Gomes, G. K., Normey-Rico, J. E., Kelber, C. R., & Becker, L. B. (2009). A Predictive Controller for Autonomous Vehicle Path Tracking. IEEE Transactions on Intelligent Transportation Systems. https://doi.org/10.1109/tits.2008.2011697
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