Research on MPC path tracking control based on adaptive adjustment of near and far preview distance

Key Points

• The aim is to improve path tracking control using model predictive control (MPC) with adaptive preview distance adjustment.
• Developed an MPC control framework for path tracking.
• Implemented adaptive adjustment of near and far preview distances.
• Tested the control system under various tracking scenarios.
• Improved tracking accuracy compared to traditional control methods.
• Reduced path deviation significantly during testing.
• Demonstrated efficient navigation in dynamic environments.