Self-driving vehicles are a maturing technology with the potential to reshape mobility by enhancing the safety, accessibility, efficiency, and convenience of automotive transportation. Safety-critical tasks that must be executed by a self-driving vehicle include planning of motions through a dynamic environment shared with other vehicles and pedestrians, and their robust executions via feedback control. The objective of this paper is to survey the current state of the art on planning and control algorithms with particular regard to the urban setting. A selection of proposed techniques is reviewed along with a discussion of their effectiveness. The surveyed approaches differ in the vehicle mobility model used, in assumptions on the structure of the environment, and in computational requirements. The side by side comparison presented in this survey helps to gain insight into the strengths and limitations of the reviewed approaches and assists with system level design choices.

A Survey of Motion Planning and Control Techniques for Self-Driving Urban Vehicles

Self-driving vehicles are a maturing technology with the potential to reshape mobility by enhancing the safety, accessibility, efficiency, and convenience of automotive transportation. Safety-critical tasks that must be executed by a self-driving vehicle include planning of motions through a dynamic environment shared with other vehicles and pedestrians, and their robust executions via feedback control. The objective of this paper is to survey the current state of the art on planning and control algorithms with particular regard to the urban setting. A selection of proposed techniques is reviewed along with a discussion of their effectiveness. The surveyed approaches differ in the vehicle mobility model used, in assumptions on the structure of the environment, and in computational requirements. The side-by-side comparison presented in this survey helps to gain insight into the strengths and limitations of the reviewed approaches and assists with system level design choices.

A Survey of Motion Planning and Control Techniques for Self-driving Urban Vehicles

https://ris.utwente.nl/ws/files/7041947/Jiang97tracking.pdf

Tracking control of mobile robots: a case study in backstepping

A dynamical extension that makes possible the integration of a kinematic controller and a torque controller for nonholonomic mobile robots is presented. A combined kinematic/torque control law is developed using backstepping and asymptotic stability is guaranteed by Lyapunov theory. Moreover, this control algorithm can be applied to the three basic nonholonomic navigation problems: tracking a reference trajectory, path following and stabilization about a desired posture. A general structure for controlling a mobile robot results that can accommodate different control techniques ranging from a conventional computed-torque controller, when all dynamics are known, to adaptive controllers.

Control of a nonholonomic mobile robot: backstepping kinematics into dynamics

A mobile robot is one of the well-known nonholonomic systems. The integration of a kinematic controller and a torque controller for the dynamic model of a nonholonomic mobile robot has been presented (Fierro and Lewis, 1995). In this paper, an adaptive extension of the controller is proposed. If an adaptive tracking controller for the kinematic model with unknown parameters exists, an adaptive tracking controller for the dynamic model with unknown parameters can be designed by using an adaptive backstepping approach. A design example for a mobile robot with two actuated wheels is provided. In this design, a new kinematic adaptive controller is proposed, then a torque adaptive controller is derived by using the kinematic controller.

Adaptive tracking control of a nonholonomic mobile robot

A stable tracking control rule is proposed for nonholonomic vehicles. The stability of the rule is proved through the use of a Liapunov function. Inputs to the vehicle are a reference posture (x/sub r/, y/sub r/, theta /sub r/)/sup t/ and reference velocities ( nu /sub r/, omega /sub r/)/sup t/. The major objective of this study is to propose a control rule to find reasonable target linear and rotational velocities ( nu , omega )/sup t/. Linearizing the system's differential equation is useful for deciding parameters for critical dumping for a small disturbance. In order to avoid slippage, a velocity/acceleration limitation scheme is introduced. Several simulation results are presented with or without the velocity/acceleration limiter. The control rule and limiting method proposed are robot independent and hence can be applied to various kinds of mobile robots with a dead reckoning ability. This method was implemented on the autonomous mobile robot Yamabico-11. Experimental results obtained are close to the results with the velocity/acceleration limiter. >

/pdf/a-stable-tracking-control-method-for-an-autonomous-mobile-3vwrb0l5ln.pdf

T. Noguchi

Papers

A stable tracking control method for an autonomous mobile robot