1. Proceedings
  2. I3M
  3. 2019
  4. IMAACA
  5. 10.46354/i3m.2019.imaaca.008

Path tracking for the convoy of autonomous vehicles based on a non-linear predictive control

  • a M. Mahmoud Mohamed Ahmed  , 
  • bAziz Naamane  , 
  • c Nacer K. M’Sirdi 
  • a,b,cAix Marseille University, Université de Toulon, CNRS, LIS UMR 7020, SASV, Marseille, France
Cite as
Ahmed M. M. M., Naamane A., M’Sirdi N. K. (2019). Path tracking for the convoy of autonomous vehicles based on a non-linear predictive control. Proceedings of the 12th International Conference on Integrated Modeling and Analysis in Applied Control and Automation (IMAACA 2019), pp. 58-64. DOI: https://doi.org/10.46354/i3m.2019.imaaca.008

Abstract

In this paper, a nonlinear predictive control of a platoon of several vehicles is proposed by using non-linear robotic form model of the vehicles. The model used represents the longitudinal, lateral and yaw movement for each vehicle in the fleet. this control approach allows controlling the fleet, uses the available information, ensures a safe distance between vehicles to avoid collisions and follows the path of the leader. The robustness of the control will be studied in order to assess the different errors occurring in the estimated parameters values.

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