Performance Benchmark of state-of-the-art Lateral Path-following Controllers

被引：0

作者：

Lu, Zhenji ^{[1
]}

Shyrokau, Barys ^{[1
]}

Boulkroune, Boulaid ^{[2
]}

van Aalst, Sebastiaan ^{[2
]}

Happee, Riender ^{[1
]}

机构：

[1] Delft Univ Technol, Cognit Robot Dept, Delft, Netherlands

[2] Flanders Make, Strateg Res Ctr Mfg Ind, Lommel, Belgium

来源：

2018 IEEE 15TH INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL (AMC) | 2018年

关键词：

lateral control; path following algorithm; benchmarking; disturbance; simulation;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Although extensive research has been conducted to design path-following algorithms for automated vehicles, the cross comparison between different path-following controllers is still weakly-analyzed. Therefore, we benchmarked five path-following algorithms to evaluate their performance according to various disturbances like gust wind, drop of road friction coefficient and inaccurate GPS localization. The comparison was carried out in simulation environment between geometrical-based, path controller with preview, LQR, linear MPC and observer-based controller with integral action approaches.

引用

页码：541 / 546

页数：6

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