Vehicle Path Tracking Using Model Predictive Control (MPC)
Updated 14 Dec 2020
This submission contains a model to show the implementation of MPC on a vehicle moving in a US Highway scene. Steps below describe the workflow:
1. Generating waypoints
2. Calculating curvature for MPC implementation
3. Generating MPC pedal map
4. Visualizing vehicle final path in 2D, Bird's-Eye Scope and a 3D simulation environment.
The users can refer this model to perform path tracking applications for a given waypoints. The results can be visualized in a 2D plot that compares the obtained and the reference trajectory.
Please go through the readme file for more details on how to use the model and how to tune the controller: https://github.com/mathworks/vehicle-model-predictive-control
MathWorks Student Competitions Team (2021). Vehicle Path Tracking Using Model Predictive Control (MPC) (https://github.com/mathworks/vehicle-model-predictive-control/releases/tag/v1.0.1), GitHub. Retrieved .
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