The taxi function

<p>This paper investigates the lane keeping control and the lateral control of autonomous ground vehicles, robots or the like considering the road agency formation unit (RAFU) functions. A strategy based knowing the real position of several points of the trajectory is proposed to achieve the lateral control purpose and maintain the lane keeping errors within the prescribed performance boundaries. The RAFU functions are applied to achieve these goals. The stability of these functions, their applicability to approach any arbitrary trajectory and the easy control of the possible error made on the approximation are useful advantages in practice.</p>

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Gain-Scheduled Robust Recursive Lateral Control for Autonomous Ground Vehicles Subject to Polytopic Uncertainties

2020 Latin American Robotics Symposium (LARS), 2020 Brazilian Symposium on Robotics (SBR) and 2020 Workshop on Robotics in Education (WRE) ◽

10.1109/lars/sbr/wre51543.2020.9307158 ◽

2020 ◽

Author(s):

Jose Nuno A. D. Bueno ◽

Kaio D. T. Rocha ◽

Marco H. Terra

Keyword(s):

Ground Vehicles ◽

Lateral Control ◽

Autonomous Ground Vehicles ◽

Polytopic Uncertainties ◽

Gain Scheduled

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Line-of-Sight Pure Pursuit Guidance Stability Analysis and Design Guideline for Car-Like Autonomous Ground Vehicles

Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles ◽

10.1115/dscc2019-9108 ◽

2019 ◽

Author(s):

Letian Lin ◽

J. Jim Zhu

Keyword(s):

Stability Analysis ◽

Line Of Sight ◽

Ground Vehicles ◽

Design Guideline ◽

Quantitative Stability ◽

Autonomous Ground Vehicles ◽

Virtual Target ◽

Pure Pursuit ◽

Path Curvature ◽

The Stability

Abstract Pure pursuit guidance (PPG) has been used to solve the path following problem for car-like autonomous ground vehicles (CAGV). Most of the PPG guidance laws for CAGV guide the vehicle to follow a circular arc connecting the vehicle with a virtual target point on the path at a specified distance ahead of the vehicle, which could be called ARC PPG. Another type of PPG law for CAGV guides the vehicle by steering its velocity vector to align with the line-of-sight (LOS) connecting the vehicle and the virtual target. While some qualitative stability results exist on ARC PPG for some special types of curves of the path, such as straight and circular, a quantitative stability analysis on general paths is highly desirable but appears missing. Moreover, the existing guidance parameter selection methods depend highly on empirical tuning. In this work, the LOS PPG formulation is used to obtain a rigorous quantitative stability result stated as two theorems for general reference paths by treating the path curvature as a non-vanishing perturbation in a nonlinear context. The result shows that the ARC PPG is a special case of the LOS PPG, whereby establishing the generality of the theorems for PPG of CAGVs. Moreover, a geometric interpretation of the guidance parameters in relation to the path curvature is provided. By using the results of the stability analysis, a practical design guideline for LOS PPG is presented. Simulation results are shown to demonstrate the correctness of the stability analysis and the usefulness of the design guideline.

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