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GPS waypoint fitting and tracking using model predictive control
- Issue Date
- Aug-2015
- Publisher
- IEEE
- Citation
- IEEE Intelligent Vehicles Symposium, Proceedings, pp.298 - 303
- Indexed
- SCOPUS
- Journal Title
- IEEE Intelligent Vehicles Symposium, Proceedings
- Start Page
- 298
- End Page
- 303
- Abstract
- In this paper, we are interested in the situation of the ego vehicle tracking the previous vehicle's GPS waypoint on highway. Even if waypoints are irregular, in order to improve the tracking performance and steering performance of the GPS waypoint tracking, curve fitting and model predictive control have been applied. The improvement of the performance of the waypoint tracking was validated via computational experimental results.
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