A Novel Dynamic Model-Based Predictive Control of Unmanned Ground Vehicles‚

In this paper, a novel dynamical model for unmanned vehicles is proposed. Based on this model, a linear model predictive controller is then designed in order to implement lateral control of unmanned vehicles. Moreover, an effective longitudinal controller is presented to stabilize the vehicle on the planning speed according to the information of the throttle and brake. It is worth mentioning that the error compensation, which is caused by linearization and discretization of the nonlinear model, is utilized to improve the precision of the novel linear dynamic model. The effectiveness of these two controllers and compensation is verified by simulation results.

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