Road-Curvature-Range-Dependent Path Following Controller Design for Autonomous Ground Vehicles Subject to Stochastic Delays

• Published in: IEEE transactions on intelligent transportation systems Vol. 23; no. 10; pp. 17440 - 17450
• Main Authors: Shi, Qian, Zhang, Hui
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.10.2022; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Actuators; Bicycles; Constraint modelling; Control systems design; Controllers; Curvature; Delays; Dynamic stability; Feedback control; grey wolf optimizer (GWO); Liapunov functions; Mathematical models; Model forms; Optimization; Output feedback; Path following; Proportional integral derivative; road-curvature-range-dependent PID controller; Roads; Stability criteria; static output feedback (SOF); Tracking errors; Trajectory planning; Tuning; Unmanned ground vehicles; Vehicle dynamics

In this paper, we investigate the PID controller design problem of path following for an autonomous ground vehicle (AGV). Firstly, a bicycle model is adopted and a vehicle offset model from the target path is integrated to the bicycle model. The PID controller considers the vehicle longitudinal spee...