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Trajectory Tracking Control of an Autonomous Ground Vehicle

Soltesz, Kristian LU (2008)
Abstract
This thesis proposes a solution to the problem of making an autonomous nonholonomic ground vehicle track a special trajectory while following a reference velocity profile. The proposed strategies have been analyzed, simulated and eventually implemented and verified in Alice, Team Caltech's contribution to the 2007 DARPA Urban Challenge competition for autonomous vehicles. The system architecture of Alice is reviewed. A kinematic vehicle model is derived. Lateral and longitudinal controllers are proposed and analyzed, with emphasis on the nonlinear state feedback lateral controller. Relevant implementation aspects and contingency management is discussed. Finally, results from simulation and field tests are presented and discussed.
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author
organization
publishing date
type
Thesis
publication status
published
subject
pages
58 pages
publisher
Department of Automatic Control, Lund Institute of Technology, Lund University
language
English
LU publication?
yes
id
7c6a5840-8e25-46cb-9708-ada4d346a17e
date added to LUP
2017-08-20 12:33:09
date last changed
2017-08-21 11:21:24
@misc{7c6a5840-8e25-46cb-9708-ada4d346a17e,
  abstract     = {This thesis proposes a solution to the problem of making an autonomous nonholonomic ground vehicle track a special trajectory while following a reference velocity profile. The proposed strategies have been analyzed, simulated and eventually implemented and verified in Alice, Team Caltech's contribution to the 2007 DARPA Urban Challenge competition for autonomous vehicles. The system architecture of Alice is reviewed. A kinematic vehicle model is derived. Lateral and longitudinal controllers are proposed and analyzed, with emphasis on the nonlinear state feedback lateral controller. Relevant implementation aspects and contingency management is discussed. Finally, results from simulation and field tests are presented and discussed.},
  author       = {Soltesz, Kristian},
  language     = {eng},
  pages        = {58},
  publisher    = {Department of Automatic Control, Lund Institute of Technology, Lund University},
  title        = {Trajectory Tracking Control of an Autonomous Ground Vehicle},
  year         = {2008},
}