DEVELOPMENT OF FUZZY LOGIC BASED MODEL PREDICTIVE CONTROL FOR PATH TRACKING OF AUTONOMOUS VEHICLE

Abstract

The present thesis explains a path tracking control technique for autonomous ground vehicles. It develops a control technique based on the linear constrained model predictive control for the autonomous vehicle to follow a given path. The system architecture includes the; path planning model, fuzzy switching system, path tracking controller, and the nonlinear vehicle model. A detailed vehicle model is developed with three degrees of freedom and the Pacejka tires model. The fuzzy logic switching module is used for online switching between the linearized vehicle models. Further approaches are developed on the vehicle model, such as the discrete linear quadratic regulator as a tracking controller and the Kalman filter.