Guaranteeing Consistency in a Motion Planning and Control Architecture Using a Kinematic Bicycle Model

Philip Polack, Florent Altché, Brigitte d'Andréa-Novel +1

This paper proposes to combine a 10Hz motion planner based on a kinematic bicycle Model Predictive Control (MPC) and a 100Hz closed-loop Proportional-Integral-Derivative (PID) cont…