Title :
A path following control algorithm for urban driving
Author :
Hsieh, Ming Feng ; Özguner, Ümit
Author_Institution :
Dept. of Mech. Eng., Ohio State Univ., Columbus, OH
Abstract :
A path following algorithm for urban driving is presented in this paper. The algorithm is designed specially to reduce path following errors caused by cornering and unsuitable set speed. We introduce a circular look-ahead (CLA) steering controller which can control a car to precisely follow a path even on a curvy road, and also propose a speed control algorithm integrated with the CLA steering controller to ensure that the vehicle is able to follow the path. The algorithm was first successfully implemented on a wheeled robot.
Keywords :
angular velocity control; automobiles; mobile robots; path planning; circular look-ahead steering controller; path following control algorithm; speed control algorithm; urban driving; wheeled robot; Automated highways; Automatic control; Cities and towns; Feedback; Mobile robots; Road transportation; Road vehicles; Robust stability; Vehicular and wireless technologies; Velocity control;
Conference_Titel :
Vehicular Electronics and Safety, 2008. ICVES 2008. IEEE International Conference on
Conference_Location :
Columbus, OH
Print_ISBN :
978-1-4244-2359-0
Electronic_ISBN :
978-1-4244-2360-6
DOI :
10.1109/ICVES.2008.4640886
