Predictive path tracking of mobile robots. Application to the CMU NavLab

Abstract

Presents a new path tracking method and its application to an autonomous vehicle, the NavLab (road-worthy truck modified for research in outdoor navigation). The method applies predictive control theory to obtain the appropriated steering angle taking into account the vehicle velocity. The authors consider both the single-input single output case and the multivariable formulation of the predictive control problem. Moreover they describe the implementation of the NavLab controller.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>