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.
Figure 1: Sandstorm Figure 2: Stanley Figure 3: Boss Figure 1 is Sandstorm, the autonomous vehicle that placed second in the DARPA Grand Challenge using a very simple steering control law based on a geometric vehicle model. Figure 2 is Stanley, the autonomous vehicle that
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