Universiti Teknologi Malaysia Institutional Repository

Path tracking on autonomous vehicle for severe maneuvre

Zulkarnain, Zulkarnain and Zamzuri, Hairi and Ariff, M. H. M. and Abdul Hamid, Umar Zakir (2018) Path tracking on autonomous vehicle for severe maneuvre. Telkomnika (Telecommunication Computing Electronics and Control), 16 (4). pp. 1583-1589. ISSN 1693-6930

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Official URL: http://dx.doi.org/10.12928/TELKOMNIKA.v16i4.9068

Abstract

Autonomous vehicle consists self-learning process consists recognizing environment, real time localization, path planning and motion tracking control. Path tracking is an important aspect on autonomous vehicle. The main purpose path tracking is the autonomous vehicle have an ability to follow the predefined path with zero steady state error. The non-linearity of the vehicle dynamic cause some difficulties in path tracking problems. This paper proposes a path tracking control for autonomous vehicle. The controller consists of a relationship between lateral error, longitudinal velocity, the heading error and the reference yaw rate. In addition, the yaw rate controller developed based on the vehicle and tyre model. The effectiveness of the proposed controller is demonstrated by a simulation.

Item Type:Article
Uncontrolled Keywords:Lateral error, Path tracking
Subjects:T Technology > T Technology (General)
Divisions:Malaysia-Japan International Institute of Technology
ID Code:84490
Deposited By: Widya Wahid
Deposited On:11 Jan 2020 15:31
Last Modified:11 Jan 2020 15:31

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