Application and analysis of a robust trajectory tracking controller for under-characterized autonomous vehicles

TitleApplication and analysis of a robust trajectory tracking controller for under-characterized autonomous vehicles
Publication TypeConference Paper
Year of Publication2008
AuthorsWise, Melonee., and Hsu, John
Conference NameControl Applications, 2008. CCA 2008. IEEE International
Date Published09/2008
Conference LocationSan Antonio, TX
ISBN Number978-1-4244-2222-7
Accession Number10221689
Abstract

When developing path tracking controllers for autonomous vehicles the dynamic constraints of the vehicle are a critical factor. It is therefore necessary to ensure that all tracking trajectories produced by the controller are smooth and continuous. In this paper, a path tracking controller is proposed and implemented on an experimental autonomous vehicle. This tracking method decouples the low-level heading and steering control of the vehicle from the main tracking controller, therefore requiring less vehicle characterization. The results of this paper will show this method yields a RMS 0.25 m cross-track error with little to no vehicle characterization.

DOI10.1109/CCA.2008.4629651
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output.pdf1.22 MB