Automatic Steering Methods for Autonomous Automobile …
Automatic Steering Methods for AutonomousAutomobile Path TrackingJarrod M. SniderCMU-RI-TR-09-08February 2009Robotics InstituteCarnegie Mellon UniversityPittsburgh, Pennsylvaniac Carnegie Mellon UniversityAbstractThis research derives, implements, tunes and compares selected pathtracking Methods for controlling a car-likerobot along a predetermined path. The scope includes commonly used Methods found in practice as well as sometheoretical Methods found in various literature from other areas of research. This work reviews literature and identifiesimportant path tracking models and control algorithms from the vast background and resources.
The family of vehicle controllers of interest are called path trackers. Path tracking refers to a vehicle executing a globally defined geometric path by applying appropriate st eering motions that guide the vehicle along the path. The goal of a path tracking controller is to minimize the lateral distance between the vehicle and the defined path,
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