Trajectory planning and robust stabilization for auto-drive cars. (Build a control center on your car so that you can just sit there and drink beer)
Shouzheng Zhu, Frank L. Lewis · 2005
Presents an overview of our work, which is concerned with the path planning and robust control of auto-drive cars. First, a class of paths is generated for a car to move from any initial position and initial angle to a desired final position and docking angle. Our algorithm for computing the paths and open-loop controls essentially consists of computing the solution of a system of three algebraic equations. Then, the closed-loop control law is established for robustly driving the car along the generated paths with respect to the errors in the motion and in the computation. Compared with existing works, one of the special features of our approach is that the paths and the robust controls are given explicitly, and this is crucial for actual implementation. Finally, computer simulations are given which show efficient path generation and excellent path tracking.