A Feedforward Control Approach to the Local Navigation Problem for Autonomous Vehicles
Alonzo Kelly · 1994
This report describes the state space model which forms the core technology of an integrated autonomous navigation system incorporating perception, control, and position estimation called RANGER. The high speed local navigation problem is formulated as an optimal control problem in state space. This report concentrates on the trajectory tracking, obstacle avoidance and sensor stabilization, aspects of the system. These algorithms form the basis of RANGER's Controller object. ii List of Figures i. List of Figures Figure 1 Basic Pure Pursuit ..............................................................................................11 Figure 2 Adaptive Pure Pursuit .........................................................................................12 Figure 3 Feedforward Pure Pursuit ...................................................................................13 Figure 4 Performance of Feedforward Pure Pursuit .........................................................14...