In this study, a path tracking control method based on model predictive control (MPC) is presented to improve the results of path tracking. A simulation model of an automatic guided vehicle (AGV) is employed in a robot operating system (ROS). A collision free path is established with the ROS under the scene of continuous turning as a reference path. A linear MPC controller is used to control the AGV in the ROS, and a simulation experiment is performed with the combined simulation of ROS and MATLAB. Experimental results verify that the proposed MPC controller has a good tracking performance under complex road conditions.
Model predictive control-based path tracking control for automatic guided vehicles
2020-12-18
555757 byte
Conference paper
Electronic Resource
English
Speed-Varying Path Tracking Based on Model Predictive Control for Autonomous Vehicles
Springer Verlag | 2024
|Path Tracking for Autonomous Vehicles Based on Nonlinear Model: Predictive Control Method
British Library Conference Proceedings | 2019
|Path Tracking for Autonomous Vehicles Based on Nonlinear Model: Predictive Control Method
SAE Technical Papers | 2019
|