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Carnegie Mellon Robotics Institute

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Abstract

Presents a new path tracking method and its application to an autonomous vehicle, the NavLab (road-worthy truck modified for research in outdoor navigation). The method applies predictive control theory to obtain the appropriated steering angle taking into account the vehicle velocity. The authors consider both the single-input single output case and the multivariable formulation of the predictive control problem. Moreover they describe the implementation of the NavLab controller.

Notes

Associated Center(s) / Consortia: Vision and Autonomous Systems Center

Associated Lab(s) / Group(s): NavLab

Text Reference

A. Ollero and Omead Amidi, "Predictive Path Tracking of Mobile Robots," Proceedings of 5th International Conference on Advanced Robotics, Robots in Unstructured Environments (ICAR '91), June, 1991, pp. 1081 - 1086.

BibTeX Reference

@inproceedings{Amidi_1991_1095,
   author = "A. Ollero and Omead Amidi",
   title = "Predictive Path Tracking of Mobile Robots",
   booktitle = "Proceedings of 5th International Conference on Advanced Robotics, Robots in Unstructured Environments (ICAR '91)",
   pages = "1081 - 1086",
   month = "June",
   year = "1991",
   volume = "2",
}

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