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Nonlinear lateral control strategy for nonholonomic vehicles

Publiceringsår: 2008
Språk: Engelska
Sidor: 3219-3224
Publikation/Tidskrift/Serie: American Control Conference
Dokumenttyp: Konferensbidrag
Förlag: IEEE--Institute of Electrical and Electronics Engineers Inc.


This paper proposes an intuitive nonlinear lateral control strategy for trajectory tracking in autonomous nonholonomic vehicles. The controller has been implemented and verified in Alice, Team Caltech's contribution to the 2007 DARPA Urban Challenge competition for autonomous motorcars. A kinematic model is derived. The control law is described and analyzed. Results from simulations and field tests are given and evaluated. Finally, the key features of the proposed controller are reviewed, followed by a discussion of some limitations of the proposed strategy.


  • Control Engineering


American Control Conference 2008
  • LCCC-lup-obsolete
  • ISSN: 0743-1619
  • ISBN: 978-1-4244-2078-0

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