A simple yet efficient Path Tracking Controller for Autonomous Trucks⁎. Issue 8 (2019)

• Record Type: Journal Article
• Authors: Kolb, Julius K.; Nitzsche, Gunter; Wagner, Sebastian
• Is Part Of: IFAC-PapersOnLine. Volume 52:Issue 8(2019)
• Page Start: 307
• Page End: 312
• Publication Date: 2019
• Subjects: Autonomous Vehicles -- Closed Loop Control -- ROS -- PID control; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2019.08.088
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: This paper presents a path tracking controller implemented for the Robot Operating System (ROS). It is developed for the funded project AutoTruck in which a 18 t truck will be automated for yard applications. The goal was to design a simple yet sufficient controller, which could also be used on a standard in vehicle control unit. Therefore, no advanced non linear controller was designed. The controller is a combination of a PID controller and a point follow controller. Both controllers individually have their drawbacks for the application. However, the combination proves to provide a good tracking performance. The controllers are tested in simulation and with 1:32 scale trucks in the test environment called DriveLab.