Development of an Advanced Autonomous Vehicle Controller System using Nonlinear Model Predictive Control (NMPC) and Long Short-Term Memory (LSTM)

Abstract

This study presents the implementation of an advanced vehicle controller-localization system that integrates Nonlinear Model Predictive Control (NMPC) with a Long Short-Term Memory (LSTM) network to improve autonomous vehicle path tracking performance. The proposed system utilizes sensor fusion approach of Visual-Inertial Odometry (VIO) and wheel odometry data through an Extended Kalman Filter (EKF) to provide accurate Three-Degree-Of-Freedom (3-DOF) for vehicle pose estimation in real time.