Model Predictive Control Schemes For Autonomous Ground Vehicle

The application of Model Predictive Control (MPC) to fast systems like autonomous ground vehicles (AGV) or mobile robots is thoroughly investigated in this book. The control of Autonomous ground vehicles (AGV) is challenging because of nonholonomic constraints, uncertainties, speed and accuracy of controls and the vehicles terrain of operation. This work develops a Model Predictive Control (MPC) algorithm for the autonomous ground vehicle (AGV).