Combined Steering and Acceleration Optimized Controller for an Autonomous Ground Vehicle
Autonomous driving has been a fast growing industry in the last decade mainly because of the improved processing capabilities of nowadays computers and moreover to increase the safety of transportation of passengers. Still with the current sophisticated processing tools, the computational burden of the nonlinear model predictive control (NMPC) in MIMO systems is still hindering further implementation in real time applications such as fully self-driving vehicles. We tackle this issue by developing a controller that is able to guide the vehicle through acceleration and steering to track a predefined path accurately while paying attention to the comfort of the passengers and moreover capable of running in real time. CaSAdi is used to formulate and solve the NMPC problem. MATLAB simulations show the effectiveness of the developed controller.
Keywords - Autonomous Vehicle, Model Predictive Control, Nonlinear Systems, Multiple Shooting, Path Tracking.