A dynamic programming MPC approach for automatic driving along tracks and its realization with online steering controllers

摘要

The paper is concerned with the computation of trajectories along a given track for automatic cars using a dynamic programming approach in combination with a model predictive control strategy, which leads to a feedback control law providing a local reference trajectory. In addition, the setup of a testing environment using scale RC cars is described, which allows to verify and test control strategies in realtime. Results of experiments are presented that show the ability of the online controllers to track the reference paths at a good precision.