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Trajectory Tracking Control of an Autonomous Ground Vehicle

Soltesz, Kristian (2008) In MSc Theses
Department of Automatic Control
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.
Please use this url to cite or link to this publication:
author
Soltesz, Kristian
supervisor
organization
year
type
H3 - Professional qualifications (4 Years - )
subject
publication/series
MSc Theses
report number
TFRT-5810
ISSN
0280-5316
language
English
id
8847589
date added to LUP
2016-03-17 10:34:50
date last changed
2016-03-17 10:34:50
@misc{8847589,
  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}},
  issn         = {{0280-5316}},
  language     = {{eng}},
  note         = {{Student Paper}},
  series       = {{MSc Theses}},
  title        = {{Trajectory Tracking Control of an Autonomous Ground Vehicle}},
  year         = {{2008}},
}