Path Tracking Method Based on Model Predictive Control and Genetic Algorithm for Autonomous Vehicle

Model predictive control (MPC) is often used for controlling the autonomous vehicle tracking target path. But to apply MPC schemes, nonlinear model of kinematics needs be approximately converted a linear format, and path problem has into certain formats in order implement solver convex quadratic programming. To solve these issues, strategy combining genetic algorithm (GA) put forward. The adopted predict future movement controlled vehicle. objective function established according Instead using programming solver, GA applied optimization problem. proposed MPC-GA method can handle arbitrary make more comprehensible flexible. This solving an Both simulations on-field tests are conducted. results validate efficiency comparison with traditional methods. With controller, automatic driving on park road basically realized. considered as alternative