| contributor author | Garrow, Alexander L. | |
| contributor author | Peters, Diane L. | |
| contributor author | Panchal, Tanmay A. | |
| date accessioned | 2024-04-24T22:43:01Z | |
| date available | 2024-04-24T22:43:01Z | |
| date copyright | 2/12/2024 12:00:00 AM | |
| date issued | 2024 | |
| identifier issn | 2689-6117 | |
| identifier other | aldsc_4_2_021002.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl1/handle/yetl/4295741 | |
| description abstract | Pure pursuit control is a commonly used method in the vehicle path-tracking problem. While widely used, it has some limitations, including the fact that its accuracy is very sensitive to the lookahead distance. A variety of different modifications to pure pursuit have been developed in an attempt to deal with this, and in this paper, an additional modification is proposed that combines speed and understeer gradient sensitivity with a curvature-based gain compensation based on target points on the path. Results are compared to the standard pure pursuit controller, demonstrating the improvements from this modification. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Curvature Sensitive Modification of Pure Pursuit Control1 | |
| type | Journal Paper | |
| journal volume | 4 | |
| journal issue | 2 | |
| journal title | ASME Letters in Dynamic Systems and Control | |
| identifier doi | 10.1115/1.4064515 | |
| journal fristpage | 21002-1 | |
| journal lastpage | 21002-7 | |
| page | 7 | |
| tree | ASME Letters in Dynamic Systems and Control:;2024:;volume( 004 ):;issue: 002 | |
| contenttype | Fulltext | |