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PATH TRACKING FOR THE CONVOY OF AUTONOMOUS VEHICLES BASED ON A NON-LINEAR PREDICTIVE CONTROL

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Academic year: 2021

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Figure

Figure 1: The Vehicle Description
Figure 3: The longitudinal movement of the convoy We define the curvilinear spacing error between the vehi-cles of the convoy:
Figure 6: Steering angle
Fig. 7. This speed has been imposed for the leader. By the law of the control and with the predictive control it is clear that the vehicle speeds of the convoy converge quickly to the speed of the leader
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