IEEE - Institute of Electrical and Electronics Engineers, Inc. - Two and a half carrots - a versatile and intuitive optimisation-based path-following approach for road vehicles

2015 23rd Mediterranean Conference on Control and Automation (MED)

Author(s): Matthias Reiter ; Dirk Abel
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 June 2015
Conference Location: Torremolinos, Spain
Conference Date: 16 June 2015
Page(s): 364 - 370
ISBN (Electronic): 978-1-4799-9936-1
DOI: 10.1109/MED.2015.7158776
Regular:

An optimization-based path-following control scheme for the lateral control of a nonholonomous vehicle is proposed. It is formulated as a nonlinear model predictive controller. The penalty... View More

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