AUTONOMOUS AUTOMOBILE GUIDANCE AND TRAJECTORY-TRACKING

摘要

Systems, methods, and computer program products for autonomous car-like ground vehicle guidance and trajectory tracking control. A multi-loop 3DOF trajectory linearization controller provides guidance to a vehicle having nonlinear rigid-body dynamics with nonlinear tire traction force, nonlinear drag forces and actuator dynamics. The controller may be based on a closed-loop PD-eigenvalue assignment and a singular perturbation (time-scale separation) theory for exponential stability, and controls the longitudinal velocity and steering angle simultaneously to follow a feasible guidance trajectory. A line-of-sight based pure-pursuit guidance controller may generate a 3DOF spatial trajectory that is provided to the 3DOF controller to enable target pursuit and path-following/trajectory-tracking. The resulting combination may provide a 3DOF motion control system with integrated simultaneous steering and speed control for automobile and car-like mobile robot target pursuit and trajectory-tracking.