For its high efficiency and simpleness, Pure-Pursuit has been widely used in fields of automatic drive. This paper presents a modified robust controller based on Pure-Pursuit. The highlight of the method is that it replaces the circle in Pure-Pursuit with a clothoid C1 curve. Meantime, it applies the curvature information from the clothoid curve to tune the look-ahead distance. We compare the controller with improved Pure-Pursuit through experiments on the platform of autonomous vehicle, TuZhi, developed by Wuhan University. The results demonstrate that the proposed controller is more effective.
Improved path tracking approach for unmanned vehicles based on clothoid curve
2015-06-01
566414 byte
Conference paper
Electronic Resource
English