Model Predictive Contouring Control

Model Predictive Contouring Control (MPCC) is a model-based control technique primarily focused on achieving agile and precise path following, particularly in challenging scenarios demanding high speed and maneuverability. Current research emphasizes applications in autonomous vehicles and drones, incorporating nonlinear vehicle/aircraft models, advanced optimization algorithms (like Bayesian Optimization), and techniques to handle model uncertainties (e.g., using Student-t processes). This approach is significant for improving safety and performance in dynamic environments, with demonstrated success in obstacle avoidance, time-optimal trajectory generation, and real-time control for applications ranging from autonomous racing to evasive maneuvers.