RT Journal Article
T1 A waypoint tracking controller for autonomous road vehicles using ROS framework
A1 Gutiérrez, Rodrigo
A1 López Guillén, Elena
A1 Bergasa, Luis M.
A1 Barea, Rafael
A1 Pérez, Óscar
A1 Gómez Huélamo, Carlos
A1 Arango, Felipe
A1 del Egido, Javier
A1 López Fernández, Joaquín
K1 3304.12 Dispositivos de Control
K1 1203.04 Inteligencia Artificial
K1 3317 Tecnología de Vehículos de Motor
AB Automated Driving Systems (ADSs) require robust and scalable control systems in order to achieve a safe, efficient and comfortable driving experience. Most global planners for autonomous vehicles provide as output a sequence of waypoints to be followed. This paper proposes a modular and scalable waypoint tracking controller for Robot Operating System (ROS)-based autonomous guided vehicles. The proposed controller performs a smooth interpolation of the waypoints and uses optimal control techniques to ensure robust trajectory tracking even at high speeds in urban environments (up to 50 km/h). The delays in the localization system and actuators are compensated in the control loop to stabilize the system. Forward velocity is adapted to path characteristics using a velocity profiler. The controller has been implemented as an ROS package providing scalability and exportability to the system in order to be used with a wide variety of simulators and real vehicles. We show the results of this controller using the novel and hyper realistic CARLA Simulator and carrying out a comparison with other standard and state-of-art trajectory tracking controllers.
PB Sensors
SN 14248220
YR 2020
FD 2020-07-21
LK http://hdl.handle.net/11093/2368
UL http://hdl.handle.net/11093/2368
LA eng
NO Sensors, 20(14): 4062 (2020)
NO Ministerio de Ciencia e Innovación | Ref. RTI2018-099263-B-C21
DS Investigo
RD 03-oct-2024