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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. +
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| 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 This property is a special property in this wiki.
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15 May 2016 06:17:16 + |
| URL This property is a special property in this wiki.
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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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