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Nonlinear Lateral Control Strategy for Nonholonomic Vehicles
Abstract This paper proposes an intuitive nonlinear …
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.
some limitations of the proposed strategy.  +
Authors Magnus Linderoth, Kristian Soltesz, Richard M Murray  +
ID 2007l  +
Source American Control Conference  +
Tag lsm08-acc  +
Title Nonlinear Lateral Control Strategy for Nonholonomic Vehicles +
Type Preprint  +
Categories Papers
Modification date
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15 May 2016 06:17:16  +
URL
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http://www.cds.caltech.edu/~murray/preprints/lsm08-acc.pdf  +
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Nonlinear Lateral Control Strategy for Nonholonomic Vehicles + Title
 

 

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