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A Path Tracking Algorithm Using Future Prediction Control with Spike Detection for an Autonomous Vehicle Robot
2013
International Journal of Advanced Robotic Systems
Trajectory tracking is an important aspect of autonomous vehicles. The idea behind trajectory tracking is the ability of the vehicle to follow a predefined path with zero steady state error. The difficulty arises due to the nonlinearity of vehicle dynamics. Therefore, this paper proposes a stable tracking control for an autonomous vehicle. An approach that consists of steering wheel control and lateral control is introduced. This control algorithm is used for a non-holonomic navigation problem,
doi:10.5772/56658
fatcat:tgyimecmjvbs3elsyxjrjd3pwe