Published June 2008
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Nonlinear lateral control strategy for nonholonomic vehicles
Chicago
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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.
Additional Information
© 2008 IEEE. The work resulting in this paper was carried out at California Institute of Technology (Pasadena, USA) as part of their autonomous vehicle project, aimed at the 2007 DARPA Urban Challenge. We would like to thank our team coordinator Noël du Toit. We also want to thank Prof. Anders Rantzer and Prof. Tore Hägglund at Lund Institute of Technology (Lund, Sweden) and the Caltech SURF program for making our stay in California possible and pleasant. Last, but not least, we owe great thanks to all members of Team Caltech for their help, support, and suggestions throughout the project as well as all external supporters and sponsors of the project.Attached Files
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Additional details
- Eprint ID
- 94073
- Resolver ID
- CaltechAUTHORS:20190322-145441234
- Caltech Summer Undergraduate Research Fellowship (SURF)
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2019-03-22Created from EPrint's datestamp field
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2021-11-16Created from EPrint's last_modified field