#RHCAutonomousVehicle Matlab code to generate steering and speed (phi,v) command for an autonomous vehicle to follow a predefined path reference path (x,y)
The controller is a Model Predictive Receeding Horizon Controller
Paper published in
M Elbanhawi, M Simic, and R Jazar Receding horizon lateral vehicle control for pure pursuit path tracking Journal of Vibration and Control 1077546316646906, first published on May 22, 2016 doi:10.1177/1077546316646906