Autonomous Vehicle Control with Lidar
Receding horizon sliding control or RHSC merges design principles from sliding control and model predictive control. The severe ISO 3888-2 obstacle avoidance maneuver is considered as a test scenario for evaluating the performance of RHSC in practice. The controller perceives the environment through measurements from Lidar, GPS, and IMU systems. Simultaneous localization and mapping is performed online with an unscented Kalman filter as a basis for the autonomous steering control algorithm.
More on the idea of RHSC can be found here and in forthcoming papers.