An MPC framework with curvature-based weight tuning tracks reference trajectories on a real drive-by-wire vehicle with reported cross-track errors below about 3 meters, but key model details and timing data are missing.
Simultaneous trajectory planning and tracking using an MPC method for cyber- physical systems: A case study of obstacle avoidance for an intelligent vehicle,
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Real-Time LPV-Based Non-Linear Model Predictive Control for Robust Trajectory Tracking in Autonomous Vehicles
An MPC framework with curvature-based weight tuning tracks reference trajectories on a real drive-by-wire vehicle with reported cross-track errors below about 3 meters, but key model details and timing data are missing.