Hybrid controller approach for an autonomous ground vehicle path tracking problem

TLDR: This work proposes a hybrid method to improve convergence to the path, prevent cutting corner and overshoot from the desired path, and proposes a geometric model based lateral control system for a ground vehicle.

Abstract: This paper proposes a geometric model based lateral control system for a ground vehicle. Lateral control algorithm takes the advantages of two different path tracking methods at different path geometries. Two of the well-known geometric path tracking methods, namely Pure-Pursuit method and Stanley method, are combined with a simple and easy to implement approach. Pure-Pursuit method is very good at low speeds. However, as speed increases cutting corner behavior occurs and vehicle tends to converge to path relatively slow. In contrast, Stanley method convergence to the road is very fast and there is no cutting corner behavior. However since there is no look ahead behavior in Stanley method, it tends to overshoot from the desired path for sharp turns. In this work we propose a hybrid method to improve convergence to the path, prevent cutting corner and overshoot from the desired path.

Figures

Figure 5.1 : R50 Cricle Track.

Figure 3.15 : Goal Point cases.

Table 2.1 : Dynamic Bicycle Model Parameters.

Figure 3.11 : Closest point behind the segment.

Table 5.3 : Error values for Mixed Track.

Figure 3.12 : Closest points on all segments.

Full text

Department of Control and Automation Engineering
Control and Automation Engineering Programme
ISTANBUL TECHNICAL UNIVERSITY  GRADUATE SCHOOL OF SCIENCE
ENGINEERING AND TECHNOLOGY
M.Sc. THESIS
DECEMBER 2016
HYBRID CONTROLLER APPROACH FOR AN AUTONOMOUS GROUND
VEHICLE PATH TRACKING PROBLEM
Mertcan CİBOOĞLU

DECEMBER 2016
ISTANBUL TECHNICAL UNIVERSITY  GRADUATE SCHOOL OF SCIENCE
ENGINEERING AND TECHNOLOGY
HYBRID CONTROLLER APPROACH FOR AN AUTONOMOUS GROUND
VEHICLE PATH TRACKING PROBLEM
M.Sc. THESIS
Mertcan CİBOOĞLU
(504141121)
Department of Control and Automation Engineering
Control and Automation Engineering Programme
Thesis Advisor: Prof. Dr. M. Turan SÖYLEMEZ

ARALIK 2016
İSTANBUL TEKNİK ÜNİVERSİTESİ  FEN BİLİMLERİ ENSTİTÜSÜ
OTONOM BİR KARA ARACININ YOL TAKİBİ PROBLEMİ İÇİN HİBRİT
KONTROLÖR YAKLAŞIMI
YÜKSEK LİSANS TEZİ
Mertcan CİBOOĞLU
(504141121)
Kontrol ve Otomasyon Mühendisliği Anabilim Dalı
Kontrol ve Otomasyon Mühendisliği Programı
Tez Danışmanı: Prof. Dr. M. Turan SÖYLEMEZ

Frequently asked questions

Q1. What are the contributions in "Hybrid controller approach for an autonomous ground vehicle path tracking problem mertcan ci̇booğlu december 2016 istanbul technical university  graduate school of science engineering and technology hybrid controller approach for an autonomous ground vehicle path tracking problem m.sc. thesis" ?

In this paper, the authors proposed an adaptive look forward method or gain scaling to solve the path following problem. 

Q2. What are the future works mentioned in the paper "Hybrid controller approach for an autonomous ground vehicle path tracking problem mertcan ci̇booğlu december 2016 istanbul technical university  graduate school of science engineering and technology hybrid controller approach for an autonomous ground vehicle path tracking problem m.sc. thesis" ?

In the future, in order to increase the performance of hybrid controller, weights and the timer value can be optimized. There might be further research on whether the change in the weight regarding to the smoothness of the path has an impact on the performance. In addition, hybrization can be done with other methods such as, vector pursuing, MPC and other controllers. 

Q3. What is the role of the driver in the auto industry?

Automated driving requires deep understanding and cooperation of many different disciplines and topics, such as sensor technologies, localization and mapping technologies, estimation and fusion algorithms, image processing algorithms, decision making and trajectory generation algorithms, vehicle controls theory and automotive engineering 

Q4. What is the weight of the pure pursuit method?

As the path gets smoother, the weight of the Stanley method is increased, if a sharp change is ahead the weight of the pure pursuit method is increased. 

Q5. what is the ds of the index?

Q6. What is the purpose of this thesis?

In order to use advantages of different methods at the same time, innovative approach that based on the combination of two method is proposed as hybrid controller.