Curvature-Aware Model Predictive Contouring Control
Lorenzo Lyons,Laura Ferranti,Lorenzo Lyons,Laura Ferranti
We present a novel Curvature-Aware Model Pre-dictive Contouring Control (CA-MPCC) formulation for mobile robotics motion planning. Our method aims at generalizing the traditional contouring control formulation derived from machining to autonomous driving applications. The proposed controller is able of handling sharp curvatures in the reference path while subject to non-linear constraints, such as...
