Comparison of trajectory tracking controllers for emergency situations

Hess, Daniel; Althoff, Matthias; Sattel, Thomas

doi:10.1109/ivs.2013.6629465

Cited by 18 publications

(9 citation statements)

References 21 publications

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“…The results presented in this work build upon and greatly extend those of [11,12]. The extension is so great that several arguments can be proposed as a result of the observations detailed in Section 3.…”

Section: Introductionsupporting

confidence: 73%

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Searching for a Cheap Robust Steering Controller

Vidano,

Assadian

2024

Electronics

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The study of lateral steering control for Automated Driving Systems identifies new control solutions more often than new control problems. This is likely due to the maturity of the field. To prevent repeating efforts toward solving already-solved problems, what is needed is a cohesive way of evaluating all developed controllers under a wide variety of environmental conditions. This work serves as a step in this direction. Four controllers are tested on five maneuvers representing highways and collision avoidance trajectories. Each controller and maneuver combination is repeated on five sets of environmental conditions or Operational Design Domains (ODDs). The design of these ODDs ensures the translation of these experimental results to real-world applications. The commercial software, CarSim 2020, is extended with Simulink models of the environment, sensor dynamics, and state estimation performances to perform highly repeatable and realistic evaluations of each controller. The results of this work demonstrate that most of the combinations of maneuvers and ODDs have existing cheap controllers that achieve satisfactorily safe performance. Therefore, this field’s research efforts should be directed toward finding new control problems in lateral path tracking rather than proposing new controllers for ODDs that are already solved.

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Section: Introductionsupporting

confidence: 73%

“…Research similar to this study can be found in [11,12], which uses a single lane change and a double lane change maneuver to evaluate a set of lateral motion controllers. They study the performance under nominal, model discrepancies, low friction, and sensor noise disturbances.…”

Section: Introductionmentioning

confidence: 99%

Searching for a Cheap Robust Steering Controller

Vidano,

Assadian

2024

Electronics

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“…1, ➃). Candidates for trajectory tracking controllers for emergency maneuvers are evaluated in a previous work [26].…”

Section: Basic Ideamentioning

confidence: 99%

Road occupancy prediction of traffic participants

Althoff

Hess

Gambert

2013

16th International IEEE Conference on Intelligent Transportation Systems (ITSC 2013)

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We predict the road occupancy of traffic participants for collision avoidance systems. The occupancy sets are computed for consecutive time intervals and contain all reachable positions of traffic participants in compliance with a proposed dynamic model. Those sets make it possible to check if planned emergency maneuvers are collision-free in all possible future scenarios. However, no algorithm exists for exactly computing the occupancy when the model forbids unrealistic behavior such as leaving road boundaries or largely exceeding speed limits. For this reason, we provide methods to tightly overapproximate occupancy sets to ensure safe emergency maneuvers. We demonstrate the applicability of the approach by numerical examples, which show that the occupancy computation is not only efficient, but also tight enough to trigger emergency maneuvers almost at the last possible point in time.

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“…However, these studies did not reflect the performance of controllers in real-world situations with unexpected disturbances. In [33], the authors compared trajectory tracking controllers under disturbances and sensor noise, but they only reported the comparison of two flatness-based controllers.…”

Section: Introductionmentioning

confidence: 99%

An Efficient Guiding Manager for Ground Mobile Robots in Agriculture

Emmi,

Fernández,

Gonzalez-de-Santos

2023

Robotics

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Mobile robots have become increasingly important across various sectors and are now essential in agriculture due to their ability to navigate effectively and precisely in crop fields. Navigation involves the integration of several technologies, including robotics, control theory, computer vision, and artificial intelligence, among others. Challenges in robot navigation, particularly in agriculture, include mapping, localization, path planning, obstacle detection, and guiding control. Accurate mapping, localization, and obstacle detection are crucial for efficient navigation, while guiding the robotic system is essential to execute tasks accurately and for the safety of crops and the robot itself. Therefore, this study introduces a Guiding Manager for autonomous mobile robots specialized for laser-based weeding tools in agriculture. The focus is on the robot’s tracking, which combines a lateral controller, a spiral controller, and a linear speed controller to adjust to the different types of trajectories that are commonly followed in agricultural environments, such as straight lines and curves. The controllers have demonstrated their usefulness in different real work environments at different nominal speeds, validated on a tracked mobile platform with a width of about 1.48 m, in complex and varying field conditions including loose soil, stones, and humidity. The lateral controller presented an average absolute lateral error of approximately 0.076 m and an angular error of about 0.0418 rad, while the spiral controller presented an average absolute lateral error of about 0.12 m and an angular error of about 0.0103 rad, with a horizontal accuracy of about ±0.015 m and an angular accuracy of about ±0.009 rad, demonstrating its effectiveness in real farm tests.

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Comparison of trajectory tracking controllers for emergency situations

Cited by 18 publications

References 21 publications

Searching for a Cheap Robust Steering Controller

Searching for a Cheap Robust Steering Controller

Road occupancy prediction of traffic participants

An Efficient Guiding Manager for Ground Mobile Robots in Agriculture

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