Curve Tracking Control for Autonomous Vehicles with Rigidly Mounted Range Sensors

Authors:
Jonghoek Kim;Fumin Zhang;Magnus Egerstedt
Affiliations:
Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, USA;Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, USA;Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, USA
Venue:
Journal of Intelligent and Robotic Systems
Year:
2009

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Abstract

In this paper, we present feedback control laws for an autonomous vehicle with rigidly mounted range sensors to track a desired curve. In particular, we consider a vehicle that has a group of rays around two center rays that are perpendicular to the velocity of the vehicle. Under such a sensor configuration, singularities are bound to occur in the curve tracking feedback control law when tracking concave curves. To overcome this singularity, we derive a hybrid strategy of switching between control laws when the vehicle gets close to singularities. Rigorous proof and extensive simulation results verify the validity of the proposed feedback control law.