Affiliation:
1. Beijing Institute of Technology
Abstract
A feedforward and feedback path tracking algorithm appropriate for automatic parking is proposed in this paper. This algorithm is composed of feedforward control and feedback control. In the path tracking, vehicle position and reference path information are used to calculate the lateral and heading error of the vehicle as well as the curvature of reference path, and put these three as the system inputs, the steering angel of the vehicle as the output. The system parameters are settled by multiple tests. Experiments show that, this method has a high performance in path tracking and meets the requirements of vehicle parking in both low speed situation and narrow spaces.
Publisher
Trans Tech Publications, Ltd.
Reference11 articles.
1. Jonathan B, Tully F, Jim K, et al. Little Ben: The Ben Franklin Racing Team's Entry in the 2007 DARPA Urban Challenge[J]. Journal of Field Robotics, 2008, 25(9): 598-614.
2. Chris U, Joshua A, Drew B, et al. Autonomous Driving in Urban Environments: Boss and the Urban Challenge [J]. Journal of Field Robotics, 2008, 25(8): 425-466.
3. Sebastian T, Mike M, Hendrik D, et al. Stanley The Robot that Won the DARPA Grand Challenge[J]. Journal of Field Robotics, 2006, 23(9): 661-692.
4. Stefan F. Campbell. Steering Control of an Autonomous Grand Vehicle with Application to the DARPA Urban Challenge[D]. USA: Massachusetts Institute of Technology, (2007).
5. Coulter R C. Implementation of the Pure Pursuit Path Tracking Algorithm[R]. Pittsburgh, PA: Carnegie Mellon University, Robotics Institute, (1992).
Cited by
1 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献