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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Extremum-Seeking-Based Adaptive Model-Free Control and Its Application to Automated Vehicle Path Tracking
TL;DR: In this paper , the authors proposed an adaptive model-free controller (MFC) with an extremum-seeking controller (ESC) for real-time adaptive gain-tuning.
Journal ArticleDOI
Constrained Model Predictive Control for dynamic path tracking of a bi-steerable rover on slippery grounds
TL;DR: The design and application of a constrained Model Predictive Control (MPC) is presented, based on the minimization of a cost function and the variation of the control input along a finite prediction horizon, which incorporates several constraints for the stability and safety of an off-road mobile robot moving at the high velocity.
Journal ArticleDOI
Longitudinal and lateral control of autonomous vehicles in multi-vehicle driving environments
TL;DR: An integrated longitudinal and lateral trajectory planning and tracking control algorithm under vehicle-to-vehicle communication and the stability of the closed-loop system is rigorously proven based on the Lyapunov function.
Journal ArticleDOI
Autonomous Fuzzy Heading Control for a Multi-Wheeled Combat Vehicle
A. N. Ouda,Amr Mohamed +1 more
TL;DR: The design and the implementation of a heading angle tracking controller using fuzzy logic for a scaled Autonomous Multi-Wheeled Combat Vehicle (AMWCV) to navigate in outdoor environments and shows that the developed controllers are effective in predicting the desired heading angle changes.
Proceedings ArticleDOI
A local trajectory planning and control method for autonomous vehicles based on the RRT algorithm
TL;DR: The paper aims to provide an algorithm allowing to compute the planned trajectory in an unknown environment, structured with non-crossable obstacles, such as traffic cones, using the Rapidly-exploring Random Tree algorithm for autonomous racing vehicles.
References
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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.
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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.
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