Path Tracking

Contents

• Pure pursuit tracking
  • References:
• Stanley control
  • References:
• Rear wheel feedback control
  • References:
• Linear–quadratic regulator (LQR) steering control
  • Overview
  • Vehicle motion Model
  • Control Model
  • LQR controller
  • References:
• Linear–quadratic regulator (LQR) speed and steering control
  • Overview
  • Vehicle motion Model
  • Control Model
  • LQR controller
  • Simulation results
  • References:
• Model predictive speed and steering control
  • MPC modeling
  • Vehicle model linearization
  • Reference
• Nonlinear Model Predictive Control with C-GMRES
  • Mathematical Formulation
  • Ref