EUCA - Clothoid-based model predictive control for autonomous driving

2015 European Control Conference (ECC)

Author(s): Pedro F. Lima ; Marco Trincavelli ; Jonas Martensson ; Bo Wahlberg
Publisher: EUCA
Publication Date: 1 July 2015
Conference Location: Linz, Austria
Conference Date: 15 July 2015
Page(s): 2,983 - 2,990
ISBN (Electronic): 978-3-9524-2693-7
ISBN (USB): 978-3-9524-2694-4
DOI: 10.1109/ECC.2015.7330991
Regular:

This paper presents a novel linear time-varying model predictive controller (LTV-MPC) using a sparse clothoid-based path description: a LTV-MPCC. Clothoids are used world-wide in road design since... View More

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