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Curve Tracking Control for Autonomous Vehicles with Rigidly Mounted Range Sensors

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Abstract

In this paper, we present feedback control laws for an autonomous vehicle with rigidly mounted range sensors to track a desired curve. In particular, we consider a vehicle that has a group of rays around two center rays that are perpendicular to the velocity of the vehicle. Under such a sensor configuration, singularities are bound to occur in the curve tracking feedback control law when tracking concave curves. To overcome this singularity, we derive a hybrid strategy of switching between control laws when the vehicle gets close to singularities. Rigorous proof and extensive simulation results verify the validity of the proposed feedback control law.

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Authors and Affiliations

  1. Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA, USA

    Jonghoek Kim, Fumin Zhang & Magnus Egerstedt

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  1. Jonghoek Kim
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  2. Fumin Zhang
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  3. Magnus Egerstedt
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Correspondence to Fumin Zhang.

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Kim, J., Zhang, F. & Egerstedt, M. Curve Tracking Control for Autonomous Vehicles with Rigidly Mounted Range Sensors. J Intell Robot Syst 56, 177–197 (2009). https://doi.org/10.1007/s10846-009-9308-z

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  • DOI: https://doi.org/10.1007/s10846-009-9308-z

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