Development and Verification of Curvature-based Path Tracking Control Algorithm to Enhance High Speed Driving Stability in Autonomous Vehicles

This study proposes a path-tracking algorithm based on feed-forward (preview distance control) and feedback (LQR, linear quadratic regulator) controllers to reduce heading angle errors and lateral distance errors between a predefined path and an autonomous vehicle. The main objective of path-trackin...

Ausführliche Beschreibung

Bibliografische Detailangaben

Hauptverfasser:	Hyung Gyu Kim, Myeong Gyu Lee, Jong Tak Kim, Won Gun Kim
Format:	Artigo
Sprache:	Inglês
Veröffentlicht:	Korean Society for Precision Engineering 2024-06-01
Schriftenreihe:	한국정밀공학회지
Schlagworte:	autonomous vehicle path tracking carla simulator lateral distance error heading angle error
Online-Zugang:	http://www.jkspe.or.kr/upload/pdf/NODE11795934.pdf
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