A partitioned control scheme for mobile robot path tracking

Abstract

An approach to autonomously navigate a full-sized autonomous vehicle that treats vehicle control and obstacle detection separately is considered. The vehicle control that has enabled an autonomous vehicle to travel at speeds up to 35 km/h is discussed. The limitations of existing schemes that restrict their consideration to kinematic models are pointed out, and it is shown that it is possible to obtain an increase in performance through the use of approximate dynamical models that capture first-order effects. The present approach combines such a modeling philosophy with accurate feedback in world coordinates from sensors that have only recently become available. Experimental results of an implementation are presented.<>