Trajectory Tracking of Autonomous Vehicle Using Clothoid Curve

This paper proposes a clothoid-curve-based trajectory tracking control method for autonomous vehicles to solve the problem of tracking errors caused by the discontinuous curvature of the control curve calculated by the pure pursuit tracking algorithm. Firstly, based on the Ackerman steering model, t...

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Hlavní autoři:	Jianshi Li, Jingtao Lou, Yongle Li, Shiju Pan, Youchun Xu
Médium:	Artigo
Jazyk:	Inglês
Vydáno:	MDPI AG 2023-02-01
Edice:	Applied Sciences
Témata:	trajectory tracking clothoid control curve curvature continuity
On-line přístup:	https://www.mdpi.com/2076-3417/13/4/2733
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