Automated Driving Systems (ADSs) require robust and scalable control systems in order to achieve a safe, efficient and comfortable driving experience. Most global planners for autonomous vehicles provide as output a sequence of waypoints to be followed. This paper proposes a modular and scalable waypoint tracking controller for Robot Operating System (ROS)-based autonomous guided vehicles. The proposed controller performs a smooth interpolation of the waypoints and uses optimal control techniques to ensure robust trajectory tracking even at high speeds in urban environments (up to 50 km/h). The delays in the localization system and actuators are compensated in the control loop to stabilize the system. Forward velocity is adapted to path characteristics using a velocity profiler. The controller has been implemented as an ROS package providing scalability and exportability to the system in order to be used with a wide variety of simulators and real vehicles. We show the results of this controller using the novel and hyper realistic CARLA Simulator and carrying out a comparison with other standard and state-of-art trajectory tracking controllers. ; Ministerio de Ciencia e Innovación | Ref. RTI2018-099263-B-C21 ; Comunidad de Madrid | Ref. P2018 / NMT- 4331
A waypoint tracking controller for autonomous road vehicles using ROS framework
2020-07-21
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
DDC: | 629 |
A waypoint tracking controller for autonomous road vehicles using ROS framework
BASE | 2020
|A Waypoint Tracking Controller for Autonomous Vehicles Using CARLA Simulator
Springer Verlag | 2022
|A waypoint-tracking controller for a biomimetic autonomous underwater vehicle
Tema Archiv | 2006
|Automatic Semantic Waypoint Mapping Applied to Autonomous Vehicles
Springer Verlag | 2015
|Optimal Waypoint Placement for Road Surveillance using Unmanned Aerial Vehicles
British Library Conference Proceedings | 2009
|