Journal ArticleDOI
Modelling and Control Strategies in Path Tracking Control for Autonomous Ground Vehicles: A Review of State of the Art and Challenges
Reads0
Chats0
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
More filters
Journal ArticleDOI
Adaptive modified Stanley controller with fuzzy supervisory system for trajectory tracking of an autonomous armoured vehicle
Noor Hafizah Amer,Noor Hafizah Amer,Khisbullah Hudha,Hairi Zamzuri,Vimal Rau Aparow,Amar Faiz Zainal Abidin,Zulkiffli Abdul Kadir,Muhamad Murrad +7 more
TL;DR: The development of an adaptive controller with fuzzy supervisory system for trajectory tracking control of an autonomous armoured vehicle is presented and experimental results for the controller are presented to evaluate the proposed controller.
Journal ArticleDOI
Polytopic LPV approaches for intelligent automotive systems: State of the art and future challenges
TL;DR: Different polytopic LPV control designs are summarized taking various settings on time-varying parameters into account, including the applications in internal combustion engines, electric vehicles and aftertreatment systems.
Journal ArticleDOI
Recent advances in motion and behavior planning techniques for software architecture of autonomous vehicles: A state-of-the-art survey
TL;DR: In this paper, the authors present an exhaustive and critical review of the existing approaches on motion and behavior planning for AVs in terms of their feasibility, capability in handling dynamic constraints and obstacles, and optimality of motion for comfort.
Journal ArticleDOI
Trends in vehicle motion control for automated driving on public roads
TL;DR: The redundancy needed for a road vehicle to meet certain safety goals is described and the steering by differential braking could offer heterogeneous or dissimilar redundancy that complements the redundancy of described fault tolerant steering systems for driving automation equipped vehicles.
Journal ArticleDOI
Tracking error learning control for precise mobile robot path tracking in outdoor environment
Erkan Kayacan,Girish Chowdhary +1 more
TL;DR: This paper presents a Tracking-Error Learning Control (TELC) algorithm for precise mobile robot path tracking in off-road terrain and proves that the cost functions do not have local minima so that the coefficients in TELC algorithm guarantee that the global minimum is reached.
References
More filters
Book
Vehicle dynamics and control
TL;DR: In this paper, the authors present a mean value model of SI and Diesel engines, and design and analysis of passive and active automotive suspension components, as well as semi-active and active suspensions.
Journal ArticleDOI
Stanley: The Robot that Won the DARPA Grand Challenge
Sebastian Thrun,Michael Montemerlo,Hendrik Dahlkamp,David Stavens,Andrei Aron,James Diebel,Philip Fong,John Gale,Morgan Halpenny,Gabriel M. Hoffmann,Kenny Lau,Celia M. Oakley,Mark Palatucci,Vaughan R. Pratt,Pascal Stang,Sven Strohband,Cedric Dupont,Lars-Erik Jendrossek,Christian Koelen,Charles Markey,Carlo Rummel,Joe van Niekerk,Eric Jensen,Philippe Alessandrini,Gary Bradski,Bob Davies,Scott M. Ettinger,Adrian Kaehler,Ara V. Nefian,Pamela Mahoney +29 more
TL;DR: The robot Stanley, which won the 2005 DARPA Grand Challenge, was developed for high‐speed desert driving without manual intervention and relied predominately on state‐of‐the‐art artificial intelligence technologies, such as machine learning and probabilistic reasoning.
Proceedings ArticleDOI
A stable tracking control method for an autonomous mobile robot
TL;DR: 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 and was implemented on the autonomous mobile robot Yamabico-11.
Book
Nonholonomic mechanics and control
TL;DR: In this paper, the authors propose energy-based methods for stabilizing nonholonomic systems using non-holonomic control theory based on geometric properties of the system's properties. But they do not discuss the energy-independent methods of stabilisation.
Journal ArticleDOI
Predictive Active Steering Control for Autonomous Vehicle Systems
TL;DR: The effectiveness of the proposed MPC formulation is demonstrated by simulation and experimental tests up to 21 m/s on icy roads, and two approaches with different computational complexities are presented.
Related Papers (5)
Stanley: The Robot that Won the DARPA Grand Challenge
Sebastian Thrun,Michael Montemerlo,Hendrik Dahlkamp,David Stavens,Andrei Aron,James Diebel,Philip Fong,John Gale,Morgan Halpenny,Gabriel M. Hoffmann,Kenny Lau,Celia M. Oakley,Mark Palatucci,Vaughan R. Pratt,Pascal Stang,Sven Strohband,Cedric Dupont,Lars-Erik Jendrossek,Christian Koelen,Charles Markey,Carlo Rummel,Joe van Niekerk,Eric Jensen,Philippe Alessandrini,Gary Bradski,Bob Davies,Scott M. Ettinger,Adrian Kaehler,Ara V. Nefian,Pamela Mahoney +29 more