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Target-tracking control method for autonomous vehicles based on hyperbolic-tangent line-of-sight guidance and odometry error compensation. [PDF]
PLoS OneLiu X, Zhu H, Shan Z, Lu Q, He L.
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New control model for autonomous vehicles using integration of Model Predictive and Stanley based controllers. [PDF]
Sci RepAl-Jumaili MH, Özok YE.
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An Improved Pure Pursuit Algorithm for Tractor Automatic Navigation
2021 IEEE 4th International Conference on Information Systems and Computer Aided Education (ICISCAE), 2021In this paper, an improved pure pursuit (IPP) for tractor autonomous navigation is proposed. The kinematics model is based on simplified two wheeled vehicle Ackermann model. By detecting the trend of deviation to the planned path, the looking-ahead distance, a key parameter in the pure tracking algorithm, is automatically adjusted to improve the ...
Qiang Fu +3 more
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The improved pure pursuit algorithm for autonomous driving advanced system
2017 IEEE 10th International Workshop on Computational Intelligence and Applications (IWCIA), 2017The pure pursuit algorithm is one of the hottest research fields of autonomous driving advanced system as well as a major means for realizing intelligent operating of autonomous driving advanced system in future. This paper presents a thorough research on GPS automatic navigation technology of autonomous driving advanced system considering that working
Wei-Jen Wang +2 more
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Lateral control of an autonomous vehicle based on Pure Pursuit algorithm
2017 International Conference on Technological Advancements in Power and Energy ( TAP Energy), 2017Autonomous vehicle is a widely researched area, especially over the past three decades. The developments in this field are boosted mainly by the DARPA challenges organized from 2004. Autonomous vehicle has different fields of study, out of which the problem of path tracking is considered here.
A Vivek
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Path Tracking Control of Tracked Paver Based on Improved Pure Pursuit Algorithm
2021 40th Chinese Control Conference (CCC), 2021This paper investigates the high-precision path tracking control of tracked paver combined with global satellite navigation system. As the paver is performing paving operations, it requires high path tracking accuracy and good vehicle stability. Therefore, considering the influence of road curvature on path tracking accuracy and vehicle stability, and ...
Shoukun Wang
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Enhancement of pure-pursuit path-tracking algorithm with multi-goal selection
2019 1st IEEE International Conference on Gridding and Polytope Based Modeling and Control (GPMC), 2019In this paper, we present an enhancement to the popular pure-pursuit algorithm, widely used in robotics and automotive applications. The original algorithm is simple and straightforward as it depends only on the very basic attributes of the kinematic model of the target mechanical system. The algorithm is usually tuned by choosing a look-ahead distance
Peter Koros, Csaba Hajdu
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Path Tracking Control of Wheeled Mobile Robot Based on Improved Pure Pursuit Algorithm
2019 Chinese Automation Congress (CAC), 2019In the research on the path tracking control of wheeled mobile robot, path tracking accuracy of Pure Pursuit algorithm is poor. The tracking effect of Pure Pursuit algorithm is affected by the preview distance L d . To solve this problem, an improved Pure Pursuit algorithm is proposed, and a rule of adaptive adjustment of preview distance is designed ...
Sun Qinpeng +5 more
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An Improved Pure Pursuit Algorithm for Four-Wheel-Steering Autonomous Driving Vehicle
Applied Mechanics and Materials, 2014An improved pure pursuit path tracking algorithm is presented for a four-wheel steering (4WS) carrier vehicle to follow a desired path automatically. A bicycle vehicle model considering the 4WS carrier vehicles structural and steering features is applied in the method.
Yan Jiang, Yong Zhai
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Trajectory Tracking and Speed Control of Cleaning Vehicle Based on Improved Pure Pursuit Algorithm
2019 Chinese Control Conference (CCC), 2019This paper proposes a trajectory tracking algorithm based on two fuzzy controllers to adjust the running speed and foresight distance in pure pursuit method simultaneously. The tracking performance of cleaning vehicle can be improved significantly. The outputs of each fuzzy controller are the inputs of another fuzzy controller, so it is credible to ...
Miao Zhonghua
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