Optimized adaptive MPC for lateral control of autonomous vehicles
Résumé
Autonomous vehicles are the upcoming solution to most transportation problems such as safety, comfort and efficiency. The steering control is one of the main important tasks in achieving autonomous driving. Model predictive control (MPC) is among the fittest controllers for this task due to its
optimal performance and ability to handle constraints. This paper proposes an adaptive MPC controller (AMPC) for the path tracking task, and an improved PSO algorithm for optimising the AMPC parameters. Parameter adaption is realised online using a lookup table approach. The propose AMPC performance is assessed and compared with the classic MPC and the Pure Pursuit controller through simulations.
Fichier principal
ICCMA2021_YK_VP_NA_VV_DI_Optimized_adaptive_MPC_for_lateral_control_of.pdf (6.93 Mo)
Télécharger le fichier
Origine | Fichiers produits par l'(les) auteur(s) |
---|