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.
Chapter 4 introduces a dynamic vehicle model and techniques such as Optimal Control and Optimal Preview Control [11, 10, 14] to demonstrate that accurate path tracking can be achieved over a wider range of driving scenarios when the dynamics of the vehicle are considered.
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