A Robust Lateral Control Architecture for Off-Road Vehicle Guidance on Deformable Soils
David Vieira,
Antoine Vie,
Rodolfo Orjuela
et al.
Abstract:This paper introduces a novel lateral guidance strategy for autonomous ground vehicles operating in deformable environments. The strategy combines a geometric algorithm with a dynamic controller to leverage the advantages of both methods. The geometric algorithm is based on a modified Pure Pursuit method, which calculates the lateral error by considering a dynamic parameter associated with the look-ahead distance. The controller takes model uncertainties and time-variant parameters into account in a grid-based… Show more
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