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.


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    Title :

    Improved path tracking approach for unmanned vehicles based on clothoid curve


    Contributors:
    Shan, Yunxiao (author) / Chen, Cheng (author) / Yang, Wei (author) / Li, Bijun (author)


    Publication date :

    2015-06-01


    Size :

    566414 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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