Full metadata record
DC Field | Value | Language |
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dc.contributor.author | Seo, Ji Hwan | - |
dc.contributor.author | Youn, Sung Hoon | - |
dc.contributor.author | Kim, Jungeun | - |
dc.contributor.author | Kim, Kyoung-Dae | - |
dc.date.accessioned | 2024-02-08T18:10:12Z | - |
dc.date.available | 2024-02-08T18:10:12Z | - |
dc.date.created | 2023-12-27 | - |
dc.date.issued | 2023-10-19 | - |
dc.identifier.isbn | 9788993215267 | - |
dc.identifier.issn | 2642-3901 | - |
dc.identifier.uri | http://hdl.handle.net/20.500.11750/47887 | - |
dc.description.abstract | Pure pursuit is still being utilized as a path tracking algorithm for autonomous vehicles due to its advantages, such as robustness and easy implementation. However, using an inappropriate look-ahead distance and ignoring the effects of dynamics deteriorate the path tracking performance of pure pursuit. To improve the tracking performance, we propose a pure pursuit-based path tracking algorithm that quickly reduces tracking error and considers the sideslip by dynamics. For fast tracking error reduction, a dynamic look-ahead distance is designed as a function of speed and path curvature by analyzing the tracking error change according to the look-ahead distance. In addition, to compensate for the sideslip effect, the desired steering angle is calculated using the sideslip integrated-pure pursuit geometry. Simulation results show that the proposed algorithm significantly reduced the tracking error compared to the classical pure pursuit at a maximum 70 km/h speed. Also, the proposed method outperformed existing improved pure pursuits. © 2023 ICROS. | - |
dc.language | English | - |
dc.publisher | ICROS (Institute of Control, Robotics and Systems) | - |
dc.title | An Accurate Path Tracking Algorithm for Autonomous Vehicles Based on Pure Pursuit with Systematically Designed Look-Ahead Distance and Sideslip Compensation | - |
dc.type | Conference Paper | - |
dc.identifier.doi | 10.23919/ICCAS59377.2023.10316808 | - |
dc.identifier.scopusid | 2-s2.0-85179177651 | - |
dc.identifier.bibliographicCitation | International Conference on Control, Automation and Systems, ICCAS 2023, pp.931 - 936 | - |
dc.identifier.url | https://2023.iccas.org/?page_id=1923 | - |
dc.citation.conferencePlace | KO | - |
dc.citation.conferencePlace | 여수 | - |
dc.citation.endPage | 936 | - |
dc.citation.startPage | 931 | - |
dc.citation.title | International Conference on Control, Automation and Systems, ICCAS 2023 | - |
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