Linear Model Predictive Controller for Vehicle Trajectory Tracking based on Kinematic Unicycle Vehicle Motion Model with Cubic Polynomial Trajectory Generation. Evolutionary Algorithm-assisted Tuning of MPC prediction horizon and penalty matrices
motion-planning
mpc
trajectory-generation
prediction-model
feedback-controller
trajectory-tracking
cubic-splines
unicycle
mpc-control
modelpredictivecontrol
quintic-polynomial
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Updated
Apr 11, 2023 - MATLAB