Synthesis of a Spatial Lookahead Path Tracking Controller
نویسندگان
چکیده
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. Copyright © 2004 IFAC
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