A New Spatial Learning Control for Autonomous Vehicles: Experimental Results

Abstract

Autonomous vehicles, that are equipped with an artificial vision system, are considered in this paper. A new space-learning control is proposed for the tracking of planar curves, whose uncertain curvature is $L$-periodic in the curvilinear abscissa $s$. Differently from the related results in the literature, the new control does not rely on the time derivative of $s.$ Experimental results illustrate the effectiveness of the proposed approach.