Path Tracking Using Simple Planar curves

Abstract

This thesis presents a method of controlling an autonomous vehicle's motion in a two dimensional environment. Its' purpose is to expand the functionality of a vehicle's motion by complementing a point to point path planning scheme with a path to path scheme. The method introduced in this paper will use the vehicle's position and the desired reference path to calculate the necessary curvature to effect movement onto the desired reference path. The reference path will be a simple planar curve, such as, a circle or line. After successful testing of an operating algorithm, the method shall be incorporated into a robot's software system. This path tracking method will lay the groundwork for a dynamic obstacle avoidance system for a mobile robot.

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Document Details

Document Type
Technical Report
Publication Date
Mar 01, 1992
Accession Number
ADA248252

Entities

People

  • Richard J. Abresch

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Autonomy
  • Ground and Sea Platforms
  • Materials and Manufacturing Processes

DTIC Thesaurus Topics

  • Algorithms
  • Collision Avoidance
  • Computer Science
  • Control Systems
  • Curvature
  • Differential Equations
  • Geometric Forms
  • Lines (Geometry)
  • Motion Planning
  • Operating Systems
  • Robots
  • Schools
  • Simulators
  • Three Dimensional
  • Two Dimensional
  • United States
  • United States Naval Academy

Readers

  • Applied Combinatorial Optimization and Logic Circuit Design.
  • Computer Vision.
  • Software Engineering.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Bayesian Inference
  • Autonomy