Nonlinear lateral control strategy for nonholonomic vehicles

Magnus Linderoth, Kristian Soltesz, Richard M. Murray

Research output: Chapter in Book/Report/Conference proceedingPaper in conference proceedingpeer-review

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Abstract

This paper proposes an intuitive nonlinear lateral control strategy for trajectory tracking in autonomous nonholonomic vehicles. The controller has been implemented and verified in Alice, Team Caltech's contribution to the 2007 DARPA Urban Challenge competition for autonomous motorcars. A kinematic model is derived. The control law is described and analyzed. Results from simulations and field tests are given and evaluated. Finally, the key features of the proposed controller are reviewed, followed by a discussion of some limitations of the proposed strategy.
Original languageEnglish
Title of host publicationAmerican Control Conference
PublisherIEEE - Institute of Electrical and Electronics Engineers Inc.
Pages3219-3224
ISBN (Print)978-1-4244-2078-0
DOIs
Publication statusPublished - 2008
EventAmerican Control Conference 2008 - Seattle, Wa, United States
Duration: 2008 Jun 112008 Jun 13

Publication series

Name
ISSN (Print)0743-1619

Conference

ConferenceAmerican Control Conference 2008
Country/TerritoryUnited States
CitySeattle, Wa
Period2008/06/112008/06/13

Subject classification (UKÄ)

  • Control Engineering

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