Transcription of Automatic Steering Methods for Autonomous Automobile …
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Automatic Steering Methods for Autonomous Automobile …
Automatic Steering Methods for AutonomousAutomobile Path TrackingJarrod M. SniderCMU-RI-TR-09-08 February 2009 Robotics 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.
vehicles and is used in the automotive industry as the standard by which vehicle handling and dynamics are tested [1]. Figure 4 is a screen shot from a CarSim animation. The standard CarSim simulator provides a complete model of the vehicle system and the environment [7]. Additionally, rate limits and delays associated with the steering actuator
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