Nonlinear lateral control strategy for nonholonomic vehicles

Magnus Linderoth; Kristian Soltesz; Richard M. Murray

doi:10.1109/ACC.2008.4586988

Nonlinear lateral control strategy for nonholonomic vehicles

Magnus Linderoth, Kristian Soltesz, Richard M. Murray

Department of Automatic Control

Research output: Chapter in Book/Report/Conference proceeding › Paper in conference proceeding › peer-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 language	English
Title of host publication	American Control Conference
Publisher	IEEE - Institute of Electrical and Electronics Engineers Inc.
Pages	3219-3224
ISBN (Print)	978-1-4244-2078-0
DOIs	https://doi.org/10.1109/ACC.2008.4586988
Publication status	Published - 2008
Event	American Control Conference 2008 - Seattle, Wa, United States Duration: 2008 Jun 11 → 2008 Jun 13

Publication series

Name
ISSN (Print)	0743-1619

Conference

Conference	American Control Conference 2008
Country/Territory	United States
City	Seattle, Wa
Period	2008/06/11 → 2008/06/13

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 11 Sustainable Cities and Communities

Subject classification (UKÄ)

Control Engineering

Access to Document

10.1109/ACC.2008.4586988

lindacc08Accepted author manuscript, 830 KB

Cite this

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title = "Nonlinear lateral control strategy for nonholonomic vehicles",

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.",

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AB - 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.

UR - https://www.scopus.com/pages/publications/52649154211

U2 - 10.1109/ACC.2008.4586988

DO - 10.1109/ACC.2008.4586988

M3 - Paper in conference proceeding

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EP - 3224

BT - American Control Conference

PB - IEEE - Institute of Electrical and Electronics Engineers Inc.

T2 - American Control Conference 2008

Y2 - 11 June 2008 through 13 June 2008

ER -

Nonlinear lateral control strategy for nonholonomic vehicles

Abstract

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Nonlinear lateral control strategy for nonholonomic vehicles

Abstract

Publication series

Conference

UN SDGs

Subject classification (UKÄ)

Access to Document

Other files and links

Fingerprint

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LCCC

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