Dynamic curvature path tracking control for autonomous vehicle: Experimental results

Muhammad Aizzat Zakaria, Hairi Zamzuri, Rosbi Mamat, Saiful Amri Mazlan, Mohd Azizi Abd Rahman, Abdul Hadi Abd Rahman 

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

This paper discusses a new path tracking controller strategy for autonomous vehicle. Preliminary works done by researchers shows that most of the controller performs well in a straight path and normal curve. However, the problem arises in tight curve or discontinuous path. Therefore, this work aims to reduce the gap on the tight corner problem. The controller is designed based on the dynamic curvature estimation to predict the path condition and modify the wheel speed and steering wheel angle accordingly. In this technique, the curvature estimation algorithm is presented as a required input to the controller. The curvature estimation allows the vehicle to react based on the curvature profile and threshold region detection. The comparison is made based on three different path types. The experimental results on the autonomous prototype platform are discussed to show the effectiveness of the controller.

Original languageEnglish
Title of host publication2014 International Conference on Connected Vehicles and Expo, ICCVE 2014 - Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages264-269
Number of pages6
ISBN (Electronic)9781479967292
DOIs
Publication statusPublished - 1 Jan 2014
Externally publishedYes
Event3rd International Conference on Connected Vehicles and Expo, ICCVE 2014 - Vienna, Austria
Duration: 3 Nov 20147 Nov 2014

Other

Other3rd International Conference on Connected Vehicles and Expo, ICCVE 2014
CountryAustria
CityVienna
Period3/11/147/11/14

Fingerprint

Controllers
Wheels

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Automotive Engineering
  • Control and Systems Engineering
  • Transportation

Cite this

Zakaria, M. A., Zamzuri, H., Mamat, R., Mazlan, S. A., Rahman, M. A. A., & Abd Rahman , A. H. (2014). Dynamic curvature path tracking control for autonomous vehicle: Experimental results. In 2014 International Conference on Connected Vehicles and Expo, ICCVE 2014 - Proceedings (pp. 264-269). [7297553] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICCVE.2014.7297553

Dynamic curvature path tracking control for autonomous vehicle : Experimental results. / Zakaria, Muhammad Aizzat; Zamzuri, Hairi; Mamat, Rosbi; Mazlan, Saiful Amri; Rahman, Mohd Azizi Abd; Abd Rahman , Abdul Hadi.

2014 International Conference on Connected Vehicles and Expo, ICCVE 2014 - Proceedings. Institute of Electrical and Electronics Engineers Inc., 2014. p. 264-269 7297553.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Zakaria, MA, Zamzuri, H, Mamat, R, Mazlan, SA, Rahman, MAA & Abd Rahman , AH 2014, Dynamic curvature path tracking control for autonomous vehicle: Experimental results. in 2014 International Conference on Connected Vehicles and Expo, ICCVE 2014 - Proceedings., 7297553, Institute of Electrical and Electronics Engineers Inc., pp. 264-269, 3rd International Conference on Connected Vehicles and Expo, ICCVE 2014, Vienna, Austria, 3/11/14. https://doi.org/10.1109/ICCVE.2014.7297553
Zakaria MA, Zamzuri H, Mamat R, Mazlan SA, Rahman MAA, Abd Rahman  AH. Dynamic curvature path tracking control for autonomous vehicle: Experimental results. In 2014 International Conference on Connected Vehicles and Expo, ICCVE 2014 - Proceedings. Institute of Electrical and Electronics Engineers Inc. 2014. p. 264-269. 7297553 https://doi.org/10.1109/ICCVE.2014.7297553
Zakaria, Muhammad Aizzat ; Zamzuri, Hairi ; Mamat, Rosbi ; Mazlan, Saiful Amri ; Rahman, Mohd Azizi Abd ; Abd Rahman , Abdul Hadi. / Dynamic curvature path tracking control for autonomous vehicle : Experimental results. 2014 International Conference on Connected Vehicles and Expo, ICCVE 2014 - Proceedings. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 264-269
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