Journal
IEEE INTELLIGENT TRANSPORTATION SYSTEMS MAGAZINE
Volume 9, Issue 3, Pages 36-45Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/MITS.2017.2709778
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Funding
- Korea Evaluation Institute of Industrial Technology(KEIT) - Korea government(MOTIE) [10044620]
- Institute for Information & communications Technology Promotion(IITP) - Korea government(MSIP) [R7117-16-0164]
- Institute for Information & Communication Technology Planning & Evaluation (IITP), Republic of Korea [R7117-16-0164] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
- Korea Evaluation Institute of Industrial Technology (KEIT) [10044620] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
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This article addresses path generation and predictive control for waypoints tracking. By considering irregularity of waypoints given by the leading vehicle, the waypoints-following vehicle is made to track a clothoid path that assures safe and comfortable driving while keeping track of the waypoints in the least squares sense. In the generation of such a clothoid path, the path generation scheme utilized the clothoidal constraint and weighted least squares curve fitting. Predictive control is applied to improve path tracking performance over horizon, with constraints on steering and its rate being considered for safe and comfortable steering. A computational experiment, utilizing a set of leading vehicle generated waypoints on a highway, is conducted to demonstrate utility of the path generation and predictive control scheme.
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