{"title":"A partitioned control scheme for mobile robot path tracking","authors":"D. Shin, S. Singh, W. Shi","doi":"10.1109/ICSYSE.1991.161147","DOIUrl":null,"url":null,"abstract":"An approach to autonomously navigate a full-sized autonomous vehicle that treats vehicle control and obstacle detection separately is considered. The vehicle control that has enabled an autonomous vehicle to travel at speeds up to 35 km/h is discussed. The limitations of existing schemes that restrict their consideration to kinematic models are pointed out, and it is shown that it is possible to obtain an increase in performance through the use of approximate dynamical models that capture first-order effects. The present approach combines such a modeling philosophy with accurate feedback in world coordinates from sensors that have only recently become available. Experimental results of an implementation are presented.<<ETX>>","PeriodicalId":250037,"journal":{"name":"IEEE 1991 International Conference on Systems Engineering","volume":"37 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"21","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE 1991 International Conference on Systems Engineering","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICSYSE.1991.161147","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 21
Abstract
An approach to autonomously navigate a full-sized autonomous vehicle that treats vehicle control and obstacle detection separately is considered. The vehicle control that has enabled an autonomous vehicle to travel at speeds up to 35 km/h is discussed. The limitations of existing schemes that restrict their consideration to kinematic models are pointed out, and it is shown that it is possible to obtain an increase in performance through the use of approximate dynamical models that capture first-order effects. The present approach combines such a modeling philosophy with accurate feedback in world coordinates from sensors that have only recently become available. Experimental results of an implementation are presented.<>
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