الفهرس 
Literature Survey andOnly 14 pages are availabe for public view
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Abstract
The thesis is titled “Motion Control for Trajectory Tracking of Self-Driving Cars.” And it includes a literature survey on geometrical controllers used to solve the vehicle lateral control problem. In addition, a study on the basic MPC controller to figure out its behavior with relatively high speeds and sharp maneuvers. Furthermore, a predictive geometric controller algorithm is developed to enhance the controller performance at high speeds and sharp maneuvers. Finally, a clear presentation for simulation-based testing and experimental testing of the different controllers (Basic Stanley, Predictive Stanley, Fuzzy Predictive Stanley, Basic Pure pursuit, and PSO Pure pursuit) in a real environment (Golf Cart 14 seaters) integrated with localization and path planning algorithms.