Abstract
In this paper, the problem of vehicle guidance by means of an external leader is described. The objective is to navigate a four-wheeled vehicle through unstructured environments, characterized by the lack of availability of typical guidance infrastructure like lane markings or HD maps. The trajectory-following approach is based on an estimate of the leader’s path. For that, position measurements are stored over time with respect to an inertial frame. A new strategy is proposed to rate the significance of position measurements and ensure that a certain threshold of stored samples is not exceeded. Having an estimate of the leader path is essential to prevent the cutting-corner phenomenon and for exact path following in general. A spline-approximation technique is applied to obtain a smooth reference path for the underlying lateral and longitudinal motion controllers. For longitudinal tracking, a constant time-headway policy was implemented, to follow the leader with a constant time gap along the estimated path. The algorithm was first developed and tested in a simulation framework and then deployed in a demonstrator vehicle for validation under real operating conditions. The presented experimental results were achieved using only on-board sensors of the demonstrator vehicle, while high-accuracy differential GPS-based position measurements serve as the ground truth data for visualization
Originalsprache | englisch |
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Aufsatznummer | 1866 |
Seitenumfang | 14 |
Fachzeitschrift | Electronics |
Jahrgang | 11 |
Ausgabenummer | 12 |
DOIs | |
Publikationsstatus | Veröffentlicht - 13 Juni 2022 |
ASJC Scopus subject areas
- Signalverarbeitung
- Elektrotechnik und Elektronik
- Steuerungs- und Systemtechnik
- Hardware und Architektur
- Computernetzwerke und -kommunikation