Synthesis of a Spatial Lookahead Path Tracking Controller
| Authors: | Rodriguez Castaño Angel, University of Seville, Spain
Ollero Anibal, University of Seville, Spain
Vinagre Blas M., University of Extremadura, Spain
Chen YangQuan, Utah State University - CSOIS, United States |
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| Topic: | 4.3 Robotics |
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| Session: | Guidance, Navigation, and Control of Robots |
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| Keywords: | mobile robots, autonomous vehicles, position control, controllers setup |
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Abstract
This paper investigates the synthesis of a non-linear spatial lookahead controller for path tracking of Ackerman-steered autonomous vehicles. Controller tuning is performed using stability results and optimization techniques. Controller performance is analyzed when the vehicle follows different paths at different speeds. Finally experiments have been conducted using the ROMEO 4R autonomous vehicle
