Work

Performance benchmark of state-of-the-art lateral path-following controllers

Year: 2018

Type: conference-paper

Abstract: Although extensive research has been conducted to design path-following algorithms for automated vehicles, the cross comparison between different path-following controllers is still weakly-analyzed. Therefore, we benchmarked five path-following algorithms to evaluate their performance according to various disturbances like gust wind, drop of road friction coefficient and inaccurate GPS localization. The comparison was carried out in simulation environment between geometrical-based, path controller with preview, LQR, linear MPC and observer-based controller with integral action approaches.

Source: IEEE International Workshop on Advanced Motion Control (AMC)

DOI: 10.1109/amc.2019.8371151

Authors: Zhenji Lu, Barys Shyrokau, Boulaid Boulkroune, Sebastiaan van Aalst, Riender Happee

Institutions: Delft University of Technology, Flanders Make (Belgium)

Language: English

Topic: Vehicle Dynamics and Control Systems

Subfield: Automotive Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: green

Funder: Interreg

OpenAlex ID: W2807401355

FWCI: 3.402

Cites: 9

Cited by: 34

Related to: 10