Model predictive approach to integrated path planning and tracking for autonomous vehicles

Abstract

In the field of path planning for autonomous vehicle, the existing studies separately consider the path planning and path tracking problem. To fill in this research gap, this study proposes an integrated path planning and path tracking control method. In addition, this paper studies the collision avoidance problem of autonomous vehicles by considering static and dynamic obstacles. Simulation results show that the proposed method can generate a collision-free path and control the autonomous vehicle to avoid the obstacles simultaneously.