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AR
2007

Stability of autonomous vehicle path tracking with pure delays in the control loop

13 years 11 months ago
Stability of autonomous vehicle path tracking with pure delays in the control loop
This paper presents a new method to analyze the stability of a general class of mobile robot path tracking algorithms taking into account explicitly the computation and communication delays in the control loop. These pure delays are present in autonomous vehicles due to position estimation. The problem is analyzed by solving directly the transcendental characteristic equation that appears when the time delay is considered. The analysis has been done for straight paths and paths of constant curvature. The method has been applied to the pure pursuit path tracking algorithm, one of the most widely used. The paper presents several tests with two different outdoor autonomous vehicles (ROMEO-3R and a computer controlled HMMWV), in spite of difficulties of practical experiments with real vehicles close to the stability limits. These tests pointed out how the predictions about the stability of the proposed methods obtained by using simple models are verified in practice with two different ...
Guillermo Heredia, Aníbal Ollero
Added 17 Dec 2010
Updated 17 Dec 2010
Type Journal
Year 2007
Where AR
Authors Guillermo Heredia, Aníbal Ollero
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