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JeffreyChan / ReceedingHorizonControlAutonomousVehicle

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README.md

#RHCAutonomousVehicle Matlab code to generate steering and speed (phi,v) command for an autonomous vehicle to follow a predefined path reference path (x,y)

The controller is a Model Predictive Receeding Horizon Controller

Paper published in

M Elbanhawi, M Simic, and R Jazar Receding horizon lateral vehicle control for pure pursuit path tracking Journal of Vibration and Control 1077546316646906, first published on May 22, 2016 doi:10.1177/1077546316646906

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Matlab code to generate steering and speed command for an autonomous vehicle to follow a predefined path spread retract
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