Automatic_Steering_Methods_for_Autonomous_Automobile_Path_Tracking.pdf

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1、AutomaticSteeringMethodsforAutonomousAutomobilePathTrackingJarrodM.SniderCMU-RI-TR-09-08February2009RoboticsInstituteCarnegieMellonUniversityPittsburgh,PennsylvaniacCarnegieMellonUniversityAbstractThisresearchderives,implements,tunesandcomparesselectedpathtrackingmethodsforcontrollinga

2、car-likerobotalongapredeterminedpath.Thescopeincludescommonlyusedmethodsfoundinpracticeaswellassometheoreticalmethodsfoundinvariousliteraturefromotherareasofresearch.Thisworkreviewsliteratureandidentifiesimportantpathtrackingmodelsandcontrolalgorithmsfromthevastbackgroundandresources.Th

3、ispaperaugmentstheliteraturewithacomprehensivecollectionofimportantpathtrackingideas,aguidetotheirimplementationsand,mostimportantly,anindependentandrealisticcomparisonoftheperformanceofthesevariousapproaches.Thisdocumentdoesnotcatalogalloftheworkinvehiclemodelingandcontrol;onlyaselect

4、ionthatisperceivedtobeimportantideaswhenconsideringpracticalsystemidentification,easeofimplementation/tuningandcomputationalefficiency.Thereareseveralothermethodsthatmeetthiscriteria,howevertheyaredeemedsimilartooneormoreoftheapproachespresentedandarenotincluded.Theperformanceresults,ana

5、lysisandcomparisonoftrackingmethodsultimatelyrevealthatnoneoftheapproachesworkwellinallapplicationsandthattheyhavesomecomplementarycharacteristics.Thesecomplementarycharacteristicsleadtoanideathatacombinationofmethodsmaybeusefulformoregeneralapplications.Additionally,applicationsforwhi

6、chthemethodsinthispaperdonotprovideadequatesolutionsareidentified.IIAcknowledgementsThisworkwouldnothavebeenpossiblewithoutthesupport,motivationandencouragementofDr.ChrisUrmson,underwhosesupervisionIchosethisareaofresearch.IwouldliketoacknowledgetheadviceandguidanceofDr.William”Red”Whit

7、taker,whomneverceasestoamazeandinspireme.SpecialthanksgotoTugrulGalatali,whoseknowledgeandassistancewasinstrumentalinthesuccessofthisresearchandpaper.IacknowledgeMechanicalSimulationfortheirgeneroussupportanddiscountofCarSim.WithoutCarSim,qualityanalysisandcomparisonoftrackingmethods