Path Tracking and Obstacle Avoidance Algorithm Based on Model Predictive Control

Path tracking and obstacle avoidance are key technologies in the field of intelligent driving. This paper is to solve path tracking and obstacle avoidance problems based on Model Predictive Control (MPC) algorithm. Firstly, the vehicle kinematics model is established. Based on the vehicle model, the MPC algorithm is used to study the path tracking problem. Secondly, the nonlinear model MPC path tracking controller is designed, the simulation analysis and comparison are performed, where the obstacle avoidance problem is also considered, and MPC obstacle avoidance tracking controller is designed. Real-time experiments also validate the controller design.