Global ETD Search
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Showing 1 to 7 of 7 for “"Pure Pursuit"”.
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Steering control of an autonomous ground vehicle with application to the DARPA Urban Challenge
… to the implementation of the traditional "pure pursuit" style controller in which a dynamic vehicle model is used to map from the path curvature specified by the pure pursuit algorithm to the vehicle's actual steering angle. Additionally, an analytical methodology using a linear model of …
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Fast interceptor of a dynamic object
… course with the dynamic object (target.) A pure pursuit algorithm was used to steer the interceptor along a reference trajectory, which was designed to make the vehicle engage the dynamic object on a near tail-on aspect. In the endgame, the pure pursuit algorithm was modified to ensure …
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Steering control and Kalman filter position estimation comparison for an autonomous underwater vehicle
… Performance comparisons with LQR and Pure Pursuit controllers show that under these conditions, the hierarchical rule-base reduction fuzzy logic controller is able to reject disturbances and sensor noises better than its counterparts. Furthermore, this research observes the performance …
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Development of a full-stack RoboRacer autonomous racing system capable of overtaking in a head-to-head race
… control strategies are implemented and compared: Pure Pursuit, Stanley, and model predictive control (MPC) for trajectory tracking and speed regulation with Pure Pursuit being the most effective in this context. The system was developed and evaluated in both simulated and physical environments. …
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Illi Racecar: A small-scale platform for autonomous driving
… Racecar, two geometric path trackers, namely the Pure pursuit controller and the Stanley controller were simulated using Simulink. After the low-level control programming and sensing system calibration of the platform, real car tests were conducted based on the parameters tuned by the simulation. …
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Design and control of an origami-enabled soft crawling autonomous robot (OSCAR)
… path-following controllers: a model-based pure pursuit and a feedback controller. The controllers are investigated in both simulation and experiment and the need for feedback is clearly demonstrated. Finally, this research presents the path planning in order to complete OSCAR’s autonomous …
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Hierarchical rule-base reduction fuzzy control for variable velocity path tracking
Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2023-12-04 without embargo terms