Path tracking control - Open Access .click

2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC), 2020
In a typical hierarchical autonomous driving framework, the motion planner and controller are developed separately for convenience. In most cases, the planner does not have knowledge of the controller tracking behavior, which leads to prediction error of the planning system when computing a reference path.
Wei Wang +4 more
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Path tracking control of tracked vehicles

Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), 2002
A path tracking control algorithm for tracked surface drilling machines is presented. The general dynamic model of such vehicle is simulated including track-soil interactions. The controller is based on feedback linearization of the equations with feedforward friction compensation.
Mojtaba Ahmadi, Vladimir Polotski, Richard Hurteau +2 more
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Path tracking control for Dubin's cars

Proceedings of IEEE International Conference on Robotics and Automation, 2002
The problem of driving a Dubin's car (1957) along a given path is considered. In order to model a realistic road-following problem, the car is supposed to move forward only and to have bounds on the turning radius (Dubin's car). We propose a discontinuous control scheme on the angular velocity of the vehicle, based on the theory of sliding modes, that ...
BALLUCHI, ANDREA +3 more
openaire +1 more source

path tracking
model predictive control
vehicle dynamics

optimal control
autonomous vehicle
path planning

sliding mode control
11. sustainability
model predictive control mpc