Journal ArticleDOI
Modelling and Control Strategies in Path Tracking Control for Autonomous Ground Vehicles: A Review of State of the Art and Challenges
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TLDR
Critical review of the basic vehicle model usually used; the control strategies usually employed in path tracking control, and the performance criteria used to evaluate the controller’s performance are provided.Abstract:
Autonomous vehicle field of study has seen considerable researches within three decades. In the last decade particularly, interests in this field has undergone tremendous improvement. One of the main aspects in autonomous vehicle is the path tracking control, focusing on the vehicle control in lateral and longitudinal direction in order to follow a specified path or trajectory. In this paper, path tracking control is reviewed in terms of the basic vehicle model usually used; the control strategies usually employed in path tracking control, and the performance criteria used to evaluate the controller's performance. Vehicle model is categorised into several types depending on its linearity and the type of behaviour it simulates, while path tracking control is categorised depending on its approach. This paper provides critical review of each of these aspects in terms of its usage and disadvantages/advantages. Each aspect is summarised for better overall understanding. Based on the critical reviews, main challenges in the field of path tracking control is identified and future research direction is proposed. Several promising advancement is proposed with the main prospect is focused on adaptive geometric controller developed on a nonlinear vehicle model and tested with hardware-in-the-loop (HIL). It is hoped that this review can be treated as preliminary insight into the choice of controllers in path tracking control development for an autonomous ground vehicle.read more
Citations
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Journal ArticleDOI
Self-Adaptive Path Tracking Control for Mobile Robots under Slippage Conditions Based on an RBF Neural Network
Yiting Kang,Biao Xue,Riya Zeng +2 more
TL;DR: In this article, a self-adaptive path tracking control framework based on a radial basis function (RBF) neural network is proposed to overcome slippage disturbances in a wheeled robot with skid-steer characteristics.
Journal ArticleDOI
Path Tracking Control for Underactuated Vehicles With Matched-Mismatched Uncertainties: An Uncertainty Decomposition Based Constraint-Following Approach
TL;DR: In this article , the authors proposed a robust path tracking control method by utilizing the ideology of constraint-following approach for uncertain underactuated autonomous vehicles, where the uncertainties are bounded with an unknown boundary.
Proceedings ArticleDOI
Path Following Controller for Differentially Driven Planar Robots with Limited Torques and Uncertain and Changing Dynamics
TL;DR: A path following controller that is suitable for asymmetrical planar robots with significant mass and limited motor torques, and resistant against environmental forces, and inaccurate estimates of robot’s inertia, by estimating their effects with unscented kalman filter is presented.
Journal ArticleDOI
Maneuver Classification for Road Vehicles with Constrained Filtering Techniques
TL;DR: The problem of maneuver classification for road vehicles in the context of multi-model state estimation under model uncertainty is addressed in this paper by using a single motion model as a starting point and applying constraints to construct filters that are fine tuned for the predefined maneuvers.
Journal ArticleDOI
The Effects of Tire Dynamics on the Performance of Finite Spectrum Assignment of Vehicle Motion Control
TL;DR: It is shown that the inclusion of tire dynamics in the predictive model vastly improves control performance even in the presence of large parameter errors, but in certain cases, the inaccuracies may lead to instability.
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Stanley: The Robot that Won the DARPA Grand Challenge
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Proceedings ArticleDOI
A stable tracking control method for an autonomous mobile robot
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Predictive Active Steering Control for Autonomous Vehicle Systems
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