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
Tracking Control Based on Model Predictive Control Using Laguerre Functions With Pole Optimization
Dasol Jeong,Seibum B. Choi +1 more
TL;DR: In this paper , the authors focused on improving a model predictive control (MPC) using Laguerre functions to achieve high performance while reducing the computational complexity of MPC for autonomous vehicle tracking control.
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Multi-objective Model Predictive Control for Trajectory Tracking of Intelligent Electric Vehicles
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Trajectory planning and control for autonomous vehicles: a “fast” data-aided NMPC approach
TL;DR: In this article , a fast data-aided NMPC approach is developed, aimed at trajectory planning and control for autonomous vehicles, using a set membership approximation method to derive from data tight bounds on the optimal NMPC control law.
Proceedings ArticleDOI
Design of a Control Approach to Assist the Performance of a Competitive Line Follower Robot
Johann S. J. C. C. Amorim,Jefferson H. O. Fernandes,Matheus S. Machado,André L. C. Canella,Milena F. Pinto +4 more
TL;DR: In this paper , a control strategy to optimize a competitive line follower robot for standard races developed by a team of CEFET/RJ called WolfBotz is described, all mathematical foundations and robot models, hardware, and electronics involved in the construction of the proposed prototype will be described, as well as the regulation used in the competitions.
Proceedings ArticleDOI
GPU based model-predictive path control for self-driving vehicles
Eduard Chajan,Joschua Schulte-Tigges,Michael Reke,Alexander Ferrein,Dominik Matheis,Thomas Walter +5 more
TL;DR: In this article, a deterministic approach based on grid search is proposed for path planning in self-driving cars, which focuses on systematically discovering the search area with different levels of granularity, and the best sequence of each iteration is then used as an initial solution to the next iteration.
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