Related papers: Path Tracking with Dynamic Control Point Blending …
Differential drive robots that can be modeled as a kinematic unicycle are a standard mobile base platform for many service and logistics robots. Safe and smooth autonomous motion around obstacles is a crucial skill for unicycle robots to…
The ability of autonomous vehicles to maintain an accurate trajectory within their road lane is crucial for safe operation. This requires detecting the road lines and estimating the car relative pose within its lane. Lateral lines are…
Autonomous driving systems are always built on motion-related modules such as the planner and the controller. An accurate and robust trajectory tracking method is indispensable for these motion-related modules as a primitive routine.…
With the advent of autonomous driving technologies, traffic control at intersections is expected to experience revolutionary changes. Various novel intersection control methods have been proposed in the existing literature, and they can be…
A robust Model Predictive Control (MPC) approach for controlling front steering of an autonomous vehicle is presented in this paper. We present various approaches to increase the robustness of model predictive control by using weight…
This paper proposes an optimization-based approach to predict trajectories of autonomous race cars. We assume that the observed trajectory is the result of an optimization problem that trades off path progress against acceleration and jerk…
Autonomous marine vessels are expected to avoid inter-vessel collisions and comply with the international regulations for safe voyages. This paper presents a stepwise path planning method using stream functions. The dynamic flow of fluids…
Autonomous systems operating in unknown environments often rely heavily on visual sensor data, yet making safe and informed control decisions based on these measurements remains a significant challenge. To facilitate the integration of…
Pure Pursuit (PP) is a widely used path-tracking algorithm in autonomous vehicles due to its simplicity and real-time performance. However, its effectiveness is sensitive to the choice of lookahead distance: shorter values improve cornering…
Autonomous driving application is developing towards specific scenes. Park scene has features such as low speed, fixed routes, short connection, less complex traffic, and hence is suitable for bringing autonomous driving technology into…
This paper addresses forward motion control for trajectory tracking and mobile formation coordination for a group of non-holonomic vehicles on SE(2). Firstly, by constructing an intermediate attitude variable which involves vehicles'…
The majority of current studies on autonomous vehicle control via deep reinforcement learning (DRL) utilize point-mass kinematic models, neglecting vehicle dynamics which includes acceleration delay and acceleration command dynamics. The…
We introduce a novel method for controlling a motion sequence using an arbitrary temporal control sequence using temporal alignment. Temporal alignment of motion has gained significant attention owing to its applications in motion control…
Usually, a controller for path- or trajectory tracking is employed in autonomous driving. Typically, these controllers generate high-level commands like longitudinal acceleration or force. However, vehicles with combustion engines expect…
This article focuses on integrating path-planning and control with specializing on the unique needs of robotic unicycles. A unicycle design is presented which is capable of accelerating/breaking and carrying out a variety of maneuvers. The…
To perform autonomous driving maneuvers, such as parallel or perpendicular parking, a vehicle requires continual speed and steering adjustments to follow a generated path. In consequence, the path's quality is a limiting factor of the…
For autonomous driving or advanced driving assistance, it is key to monitor the vehicle dynamics behavior. Accurate models of this behavior include acceleration, but also the side-slip angle, that eventually results from the complex…
While many theoretical works concerning Adaptive Dynamic Programming (ADP) have been proposed, application results are scarce. Therefore, we design an ADP-based optimal trajectory tracking controller and apply it to a large-scale…
This note proposes a general control approach, called vector-field guided constraint-following control, to solve the dynamics control problem of geometric path-following for a class of uncertain mechanical systems. More specifically, it…
This paper presents the application of an iterative learning control scheme to improve the position tracking performance for an articulated soft robotic arm during aggressive maneuvers. Two antagonistically arranged, inflatable bellows…