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Pure Pursuit Guidance for Car-Like Ground Vehicle Trajectory Tracking

[+] Author Affiliations
Yuanyan Chen, J. Jim Zhu

Ohio University, Athens, OH

Paper No. DSCC2017-5376, pp. V002T21A015; 9 pages
  • ASME 2017 Dynamic Systems and Control Conference
  • Volume 2: Mechatronics; Estimation and Identification; Uncertain Systems and Robustness; Path Planning and Motion Control; Tracking Control Systems; Multi-Agent and Networked Systems; Manufacturing; Intelligent Transportation and Vehicles; Sensors and Actuators; Diagnostics and Detection; Unmanned, Ground and Surface Robotics; Motion and Vibration Control Applications
  • Tysons, Virginia, USA, October 11–13, 2017
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5828-8
  • Copyright © 2017 by ASME


Trajectory tracking guidance and control for nonholonomic (car-like) Autonomous Ground Vehicles (AGV), such as self-driving cars and car-like wheeled mobile robots, is a more challenging control problem than path following control, because the latter does not impose a speed requirement on the vehicle motion. The tracking error dynamics along the nominal path are nonlinear and time-varying in nature, which need to be exponentially stabilized. This paper presents a Line-of-Sight (LOS) Pure-Pursuit Guidance (PPG) trajectory design algorithm that generates a three Degrees of Freedom (DOF) spatial trajectory for an AGV equipped with a 3DOF trajectory tracking controller. The LOS PPG can be used for cooperative, passive (neutral) and adversarial tracking tasks, such as, respectively, formation driving, autonomous lane keeping with speed requirement, and chasing an evading vehicle. The algorithm is verified with computer simulations on a 1/6 scale electric car model, and will be further validated on that model car in the near future.

Copyright © 2017 by ASME



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