Model predictive approach to integrated path planning and tracking for autonomous vehicles

TL;DR

This paper presents an integrated model predictive control approach for simultaneous path planning and tracking in autonomous vehicles, addressing collision avoidance with static and dynamic obstacles through simulation validation.

Contribution

It introduces a novel integrated trajectory planning and control method using model predictive control, filling a gap in existing separate planning and tracking approaches.

Findings

Effective collision avoidance demonstrated in simulations

Integrated control improves path accuracy

Method handles static and dynamic obstacles

Abstract

In the path planning problem of autonomous application, the existing studies separately consider the path planning and trajectory tracking control of the autonomous vehicle and few of them have integrated the trajectory planning and trajectory control together. To fill in this research gap, this study proposes an integrated trajectory planning and trajectory control method. This paper also studies the collision avoidance problem of autonomous by considering static and dynamic obstacles. Simulation results have been presented to show the effectiveness of the proposed control method.