This paper describes a novel algorithm, Follow-the-Past, for autonomous path-tracking vehicles. Common algorithms, like Pure Pursuit and Follow the Carrot, compute steering commands that make a vehicle follow approximately a predefined path. One problem with these algorithms is that they tend to cut corners, since they do not explicitly take into account the actual curvature of the path. The method presented in this paper uses recorded orientation and steering commands to overcome this problem. The algorithm is constructed within the reactive paradigm, common in modern robotics, and is divided into three separate behaviors, each responsible for one aspect of the path-tracking task. We present results from both a simulator for autonomous forest machines and experiments with a physical robot. The results are compared with the Pure-Pursuit and the Follow-the-Carrot algorithms, and show a significant improvement in performance.
Autonomous Path Tracking Using Recorded Orientation and Steering Commands
2005-01-01
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
DDC: | 629 |
Path-tracking and lateral stabilisation for autonomous vehicles by using the steering angle envelope
Taylor & Francis Verlag | 2021
|Controller Design for Path Tracking of Autonomous Vehicle Incorporating Four-Wheel Steering System
SAE Technical Papers | 2022
|Steering and velocity commands for parking assistance
Tema Archiv | 2004
|Controller Design for Path Tracking of Autonomous Vehicle Incorporating Four-Wheel Steering System
British Library Conference Proceedings | 2022
|Robust dexterous telemanipulation following object-orientation commands
BASE | 2017
|