Performance benchmark of state-of-the-art lateral path-following controllers

Conference paper (2018)

Authors

Z. Lu Intelligent Vehicles - Mechanical, Maritime and Materials Engineering
B. Shyrokau Intelligent Vehicles - Mechanical, Maritime and Materials Engineering
Boulaid Boulkroune Flanders Make
Sebastiaan Van Aalst Flanders Make
R. Happee Intelligent Vehicles - Mechanical, Maritime and Materials Engineering
Research Group
Intelligent Vehicles (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2018 Z. Lu, B. Shyrokau, Boulaid Boulkroune, Sebastiaan Van Aalst, R. Happee
DOI: https://doi.org/10.1109/AMC.2019.8371151
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Published Date

2018

Language

English

Reuse Rights

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Cognitive Robotics

Research Group

Intelligent Vehicles

Abstract

Although extensive research has been conducted to design path-following algorithms for automated vehicles, the cross comparison between different path-following controllers is still weakly-analyzed. Therefore, we benchmarked five path-following algorithms to evaluate their performance according to various disturbances like gust wind, drop of road friction coefficient and inaccurate GPS localization. The comparison was carried out in simulation environment between geometrical-based, path controller with preview, LQR, linear MPC and observer-based controller with integral action approaches.

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- Embargo expired in 04-12-2018
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