Adaptive model predictive controller for trajectory tracking and obstacle avoidance on autonomous vehicle

• Main Authors: Leman, Zulkarnain Ali, Mohammad Ariff, Mohd. Hatta, Zamzuri, Hairi, Abdul Rahman, Mohd. Azizi, Mazlan, Saiful Amri, Bahiuddin, Irfan, Yakub, Fitri
• Format: Article
• Language: English
• Published: Penerbit UTM Press 2022
• Subjects: TJ Mechanical engineering and machinery
• Online Access: http://eprints.utm.my/id/eprint/102704/1/MohdHattaMohammad2022_AdaptiveModelPredictiveController.pdf; http://eprints.utm.my/id/eprint/102704/; http://dx.doi.org/10.11113/jurnalteknologi.v84.13778

Accurate vehicle trajectory tracking and collision free motion have become an active topic being discussed in autonomous vehicle research field. During an emergency obstacle avoidance manoeuvre condition, tyre force saturation greatly affects the trajectory tracking performance of the vehicle. Exist...