Curve tracking control for autonomous vehicles with rigidly mounted range sensors

In this paper, we present a feedback control law to make an autonomous vehicle with rigidly mounted range sensors track a desired curve. In particular, we consider a vehicle which has two range sensors that emit rays perpendicular to the velocity of the vehicle. Under such a sensor configuration, singularities are bound to occur in the feedback control law. Thus, to overcome this, we derive a hybrid strategy of switching between control laws close to the singularity.