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Nonlinear lateral control strategy for nonholonomic vehicles

Author

Summary, in English

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.

Publishing year

2008

Language

English

Pages

3219-3224

Publication/Series

American Control Conference

Document type

Conference paper

Publisher

IEEE - Institute of Electrical and Electronics Engineers Inc.

Topic

  • Control Engineering

Conference name

American Control Conference 2008

Conference date

2008-06-11 - 2008-06-13

Conference place

Seattle, Wa, United States

Status

Published

Research group

  • LCCC

ISBN/ISSN/Other

  • ISSN: 0743-1619
  • ISBN: 978-1-4244-2078-0