Curve Tracking for Autonomous Vehicles with Rigidly Mounted Range Sensors

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Please use this identifier to cite or link to this item: http://hdl.handle.net/1853/38596

Title: Curve Tracking for Autonomous Vehicles with Rigidly Mounted Range Sensors
Author: Kim, Jonghoek ; Zhang, Fumin ; Egerstedt, Magnus B.
Abstract: In this paper, we present a feedback control law to make an autonomous vehicle with rigidly mounted range sensors track a desired curve. In particular, we consider a vehicle which has two range sensors that emit rays perpendicular to the velocity of the vehicle. Under such a sensor configuration, singularities are bound to occur in the feedback control law. Thus, to overcome this, we derive a hybrid strategy of switching between control laws close to the singularity.
Description: (c) 2008 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. Digital Object Identifier : 10.1109/CDC.2008.4739250
Type: Article
Proceedings
URI: http://hdl.handle.net/1853/38596
ISSN: 0191-2216
Citation: J. Kim, F. Zhang, and M. Egerstedt. Curve Tracking for Autonomous Vehicles with Rigidly Mounted Range Sensors. IEEE Conference on Decision and Control, Cancun, Mexico, Dec. 2008.
Date: 2008-12
Contributor: Georgia Institute of Technology. School of Electrical and Computer Engineering
Georgia Institute of Technology. Center for Robotics and Intelligent Machines
Publisher: Georgia Institute of Technology
Institute of Electrical and Electronics Engineers
Subject: Autonomous vehicles
Feedback control
Range sensors

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