Name
Abstract | ||
|---|---|---|
To address the path tracking problem of autonomous land vehicle, a new vehicle-road model named “Ribbon Model” is constructed under the constraints of road width and vehicle geometry structure. A new vehicle-road evaluation algorithm is developed based on this model, and new path tracking controller is designed. The difficulties of preview distance selection and parameters tuning with speed of pure following controller are avoided in this controller. Performance of the novel method is verified by simulation and vehicle experiments. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1109/IROS.2012.6385615 | IROS |
Keywords | Field | DocType |
pure following controller,road width,ribbon model based path tracking method,mobile robots,path tracking controller,autonomous land vehicle,vehicle geometry structure,vehicle-road model,position control,distance selection,geometry,vehicle dynamics,tuning | Autonomous ground vehicle,Ribbon,Control theory,Computer science,Control theory,Control engineering,Vehicle dynamics,Mobile robot,Path tracking | Conference |
Volume | Issue | ISSN |
null | null | 2153-0858 |
ISBN | Citations | PageRank |
978-1-4673-1737-5 | 4 | 0.51 |
References | Authors | |
8 | 5 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Zhenping Sun | 1 | 30 | 4.16 |
| Qingyang Chen | 2 | 23 | 3.57 |
| Yiming Nie | 3 | 7 | 3.33 |
| Daxue Liu | 4 | 116 | 10.89 |
| Hangen He | 5 | 307 | 23.86 |