Title :
Ribbon Model based path tracking method for autonomous land vehicle
Author :
Sun, Zhenping ; Chen, Qingyang ; Nie, Yiming ; Liu, Daxue ; He, Hangen
Author_Institution :
Coll. of Mechatron. Eng. & Autom., Nat. Univ. of Defense Technol., Changsha, China
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.
Keywords :
geometry; mobile robots; position control; autonomous land vehicle; distance selection; path tracking controller; pure following controller; ribbon model based path tracking method; road width; vehicle geometry structure; vehicle-road model; Adaptation models; Land vehicles; Roads; Tuning; Vehicle dynamics; Wheels;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on
Conference_Location :
Vilamoura
Print_ISBN :
978-1-4673-1737-5
DOI :
10.1109/IROS.2012.6385615
