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. This paper augmentsthe literature with a comprehensive collection of important path tracking ideas, a guide to their implementations and,most importantly, an independent and realistic comparison of the performance of these various approaches.
Figure 2 is Stanley, the autonomous vehicle that won the DARPA Grand Challenge using an intuitive steering control law based on a simple kinematic vehicle model. Figure 3 is Boss, the autonomous vehicle that won the DARPA Urban Challenge. Boss uses a much more sophisticated model predictive control strategy to perform vehicle control.
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