A path following control algorithm for urban driving

Hsieh, Ming‐Feng; Özgüner, Ü.

doi:10.1109/icves.2008.4640886

Cited by 7 publications

(3 citation statements)

References 13 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The controller in ref. [13] regulates the lateral displacement and orientation of the vehicle at a lookahead distance. Frezza et al 14 approximate the path by feasible cubic Bsplines and apply feedback linearization on the derivatives of the splines at the wheel axle.…”

Section: Introductionmentioning

confidence: 99%

Visual servoing for path reaching with nonholonomic robots

Cherubini¹,

Chaumette²,

Oriolo³

2011

Robotica

View full text Add to dashboard Cite

We present two visual servoing controllers (pose-based and image-based) enabling mobile robots with a fixed pinhole camera to reach and follow a continuous path drawn on the ground. The first contribution is the theoretical and experimental comparison between pose-based and image-based techniques for a nonholonomic robot task. Moreover, our controllers are appropriate not only for path following, but also for path reaching, a problem that has been rarely tackled in the past. Finally, in contrast with most works, which require the path geometric model, only two path features are necessary in our image-based scheme and three in the pose-based scheme. For both controllers, a convergence analysis is carried out, and the performance is validated by simulations, and outdoor experiments on a car-like robot

show abstract

Section: Introductionmentioning

confidence: 99%

Visual servoing for path reaching with nonholonomic robots

Cherubini¹,

Chaumette²,

Oriolo³

2011

Robotica

View full text Add to dashboard Cite

show abstract

“…Many different steering control methods have been proposed in the literature. A path following algorithm named Circular Look Ahead (CLA) steering control was proposed in [1] which can control a car to precisely follow a path even on a curvy road. The waypoint tracking method of autonomous navigation is presented in [2] using the Point to Point algorithm with position and heading measurements from GPS receivers.…”

Section: Introductionmentioning

confidence: 99%

Use of Robust DOB/CDOB Compensation to Improve Autonomous Vehicle Path Following Performance in the Presence of Model Uncertainty, CAN Bus Delays and External Disturbances

Wang

Güvenç

2018

SAE Technical Paper Series

View full text Add to dashboard Cite

Autonomous vehicle technology has been developing rapidly in recent years. Vehicle parametric uncertainty in the vehicle model, variable time delays in the CAN bus based sensor and actuator command interfaces, changes in vehicle sped, sensitivity to external disturbances like side wind and changes in road friction coefficient are factors that affect autonomous driving systems like they have affected ADAS and active safety systems in the past. This paper presents a robust control architecture for automated driving systems for handling the abovementioned problems. A path tracking control system is chosen as the proof-of-concept demonstration application in this paper. A disturbance observer (DOB) is embedded within the steering to path error automated driving loop to handle uncertain parameters such as vehicle mass, vehicle velocities and road friction coefficient and to reject yaw moment disturbances . The compensation of vehicle model with the embedded disturbance observer forces it to behave like its nominal model within the bandwidth of the disturbance observer. A parameter space approach based steering controller is then used to optimize performance. The proposed method demonstrates good disturbance rejection and achieves stability robustness. The variable time delay from the "steer-by-wire" system in an actual vehicle can also lead to stability issues since it adds large negative phase angle to the plant frequency response and tends to destabilize it. A communication disturbance observer (CDOB) based time delay compensation approach that does not require exact knowledge of this time delay is embedded into the steering actuation loop to handle this problem. Stability analysis of both DOB and CDOB compensation system are presented in this paper. Extensive model-in-the-loop simulations were performed to test the designed disturbance observer and CDOB systems and show reduced path following errors in the presence of uncertainty, disturbances and time delay. A validated model of our 2017 Ford Fusion Hybrid research autonomous vehicle is used in the simulation analyses. Simulation results verify the performance enhancement of the vehicle path following control with proposed DOB and CDOB structure. A HiL simulator that uses a validated CarSim model with sensors and traffic will be used later to verify the real time capability of our approach.

show abstract

“…Performance of path following robot is determined by quickness and accuracy of robot to follow the predetermined path. Applications for path following of mobile robot include service robots [1], autonomous urban driving [2], autonomous material handling [3,4], autonomous wheelchair, etc. The path following robot can be implemented for line following robot, wall following, or virtual-path following robot.…”

Section: Introductionmentioning

confidence: 99%

Wall following control of a mobile robot without orientation sensor

Wardana

Widyotriatmo

Suprijanto

et al. 2013

2013 3rd International Conference on Instrumentation Control and Automation (ICA)

View full text Add to dashboard Cite

The paper presents a novel wall following control of a mobile robot without orientation sensors. The problem is formulated as a path following problem of a mobile robot. The control law derived using the proposed method assure the asymptotic stabilization of the origin by using the Lyapunov method. The effectiveness of the proposed method is shown by experimental results using a P3DX mobile robot utilizing sonar sensors to detect only the distance to the wall without orientation sensor.

show abstract

A path following control algorithm for urban driving

Cited by 7 publications

References 13 publications

Visual servoing for path reaching with nonholonomic robots

Visual servoing for path reaching with nonholonomic robots

Use of Robust DOB/CDOB Compensation to Improve Autonomous Vehicle Path Following Performance in the Presence of Model Uncertainty, CAN Bus Delays and External Disturbances

Wall following control of a mobile robot without orientation sensor

Contact Info

Product

Resources

About