Advanced

Nonlinear lateral control strategy for nonholonomic vehicles

Linderoth, Magnus LU ; Soltesz, Kristian LU and Murray, Richard M. (2008) American Control Conference 2008 In American Control Conference p.3219-3224
Abstract
This paper proposes an intuitive nonlinear lateral control strategy for trajectory tracking in autonomous nonholonomic vehicles. The controller has been implemented and verified in Alice, Team Caltech's contribution to the 2007 DARPA Urban Challenge competition for autonomous motorcars. A kinematic model is derived. The control law is described and analyzed. Results from simulations and field tests are given and evaluated. Finally, the key features of the proposed controller are reviewed, followed by a discussion of some limitations of the proposed strategy.
Please use this url to cite or link to this publication:
author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
in
American Control Conference
pages
3219 - 3224
publisher
IEEE--Institute of Electrical and Electronics Engineers Inc.
conference name
American Control Conference 2008
external identifiers
  • wos:000259261502098
  • scopus:52649154211
ISSN
0743-1619
ISBN
978-1-4244-2078-0
DOI
10.1109/ACC.2008.4586988
language
English
LU publication?
yes
id
8e504e42-6a63-41e8-aa7a-a380af2c6f25 (old id 1406025)
date added to LUP
2009-06-08 15:03:49
date last changed
2017-11-19 03:49:38
@inproceedings{8e504e42-6a63-41e8-aa7a-a380af2c6f25,
  abstract     = {This paper proposes an intuitive nonlinear lateral control strategy for trajectory tracking in autonomous nonholonomic vehicles. The controller has been implemented and verified in Alice, Team Caltech's contribution to the 2007 DARPA Urban Challenge competition for autonomous motorcars. A kinematic model is derived. The control law is described and analyzed. Results from simulations and field tests are given and evaluated. Finally, the key features of the proposed controller are reviewed, followed by a discussion of some limitations of the proposed strategy.},
  author       = {Linderoth, Magnus and Soltesz, Kristian and Murray, Richard M.},
  booktitle    = {American Control Conference},
  isbn         = {978-1-4244-2078-0},
  issn         = {0743-1619},
  language     = {eng},
  pages        = {3219--3224},
  publisher    = {IEEE--Institute of Electrical and Electronics Engineers Inc.},
  title        = {Nonlinear lateral control strategy for nonholonomic vehicles},
  url          = {http://dx.doi.org/10.1109/ACC.2008.4586988},
  year         = {2008},
}