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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References
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Comparing Internal Model Control and Sliding-Mode Approaches for Vehicle Yaw Control
TL;DR: This paper investigates the problem of vehicle yaw control using a rear active differential using a reference generator designed to improve vehicle handling, a feedforward contribution that enhances the transient system response, and a feedback controller.
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A linear-interpolation-based controller design for trajectory tracking of mobile robots
TL;DR: A novel linear interpolation based methodology to design control algorithms for the trajectory tracking of mobile robotic systems is presented and results are presented, demonstrating the good performance of the proposed methodology.
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Sensor fusion-based visual target tracking for autonomous vehicles with the out-of-sequence measurements solution
TL;DR: The 1-step-lag OOSM solution from Bar-Shalom is applied for the Extended Kalman Filter-based target-state estimation and the performance of the proposed tracking algorithm with the OosM solution is demonstrated through extensive experimental results.
Vector pursuit path tracking for autonomous ground vehicles
Jeffrey S. Wit,Carl D. Crane +1 more
TL;DR: In this article, a vector pursuit path-tracking method and two fuzzy reference model learning controllers (FRMLCs) are implemented to execute the vehicle s desired turning rate and speed.
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