GPS waypoint fitting and tracking using model predictive control
Soo Jung Jeon, Chang Mook Kang, Seung-Hi Lee, Chung Choo Chung · 2015
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.