An Improved Pure Pursuit Algorithm for Four-Wheel-Steering Autonomous Driving Vehicle-Reference-Cited by-同舟云学术

An Improved Pure Pursuit Algorithm for Four-Wheel-Steering Autonomous Driving Vehicle

Published:2014-02 Issue: Volume:511-512 Page:958-962
ISSN:1662-7482
Container-title:Applied Mechanics and Materials
language:
Short-container-title:AMM

Author:

Quan Miao Miao¹,Zhai Yong¹,Jiang Yan¹,Sun Yin Jian¹,Xu Da Lu¹,Gong Jian Wei¹

Affiliation:

1. Beijing Institute of Technology

Abstract

An improved pure pursuit path tracking algorithm is presented for a four-wheel steering (4WS) carrier vehicle to follow a desired path automatically. A bicycle vehicle model considering the 4WS carrier vehicles structural and steering features is applied in the method. Real vehicle tests in an open large outdoor warehouse showed that the lateral tracking error was less than 0.56m at 20km/h. And we can conclude that the enhanced method for 4WS vehicle has good tracking ability on flat road.

Publisher

Trans Tech Publications, Ltd.

Link

https://www.scientific.net/AMM.511-512.958.pdf

Reference10 articles.

1. R. C. Coulter, Implementation of the Pure Pursuit Path Tracking Algorithm. Pittsburgh, PA: Carnegie Mellon University, Robotics Institute, (1992).

2. J. M. Snider, Automatic Steering Methods for Autonomous Automobile Path Tracking. Pittsburgh: Robotics Institute, Carnegie Mellon University, (2009).

3. S. F. Campbell, Steering Control of an Autonomous Ground Vehicle with Application to the DARPA Urban Challenge. Cambridge: Massachusetts Institute of Technology, (2007).

4. Y. Jiang, J. Gong, G. Xiong, etc, Design of a universal self-driving system for urban scenarios-BIT-III in the 2011 Intelligent Vehicle Future Challenge. 2012 IEEE Intelligent Vehicles Symposium, 2012: 506-510.

5. Y. Jiang, X. Zhao, J. Gong, G. Xiong, System design of self-driving in simplified urban environments. Chinese Journal of Mechanical Engineering. 48(20), 2012: 103-112.

Cited by 5 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

1. Dynamic Trajectory Planning and Tracking Algorithm of Lunar Rover with Updating Map Information;2022 China Automation Congress (CAC);2022-11-25

2. Nonlinear Model Predictive Tracking Control With C/GMRES Method for Heavy-Duty AGVs;IEEE Transactions on Vehicular Technology;2021-12

3. Multi point pure pursuit;Autonomous Systems: Sensors, Processing, and Security for Vehicles and Infrastructure 2020;2020-05-19

4. Development and Performance Enhancement of An Over-Actuated Autonomous Ground Vehicle;IEEE/ASME Transactions on Mechatronics;2020

5. Automatic Steering Control Algorithm Based on Compound Fuzzy PID for Rice Transplanter;Applied Sciences;2019-06-30