Autonomous Road Vehicle Path Planning and Tracking Control

Levent Guvenc, Bilin Aksun-Guvenc, Sheng Zhu, Sukru Yaren Gelbal

• Publisher: Wiley-IEEE Press
• Year: 2021
• Print ISBN: 9781119747949
• eBook ISBN: 9781119747956
• Edition: 1
• Topic: Technology & Engineering
• Subtopic: Robotics
• Index: Technology & Engineering

Discover the latest research in path planning and robust path tracking control

In Autonomous Road Vehicle Path Planning and Tracking Control, a team of distinguished researchers delivers a practical and insightful exploration of how to design robust path tracking control. The authors include easy to understand concepts that are immediately applicable to the work of practicing control engineers and graduate students working in autonomous driving applications. Controller parameters are presented graphically, and regions of guaranteed performance are simple to visualize and understand.

The book discusses the limits of performance, as well as hardware-in-the-loop simulation and experimental results that are implementable in real-time. Concepts of collision and avoidance are explained within the same framework and a strong focus on the robustness of the introduced tracking controllers is maintained throughout.

In addition to a continuous treatment of complex planning and control in one relevant application, the Autonomous Road Vehicle Path Planning and Tracking Control includes:

• A thorough introduction to path planning and robust path tracking control for autonomous road vehicles, as well as a literature review with key papers and recent developments in the area
• Comprehensive explorations of vehicle, path, and path tracking models, model-in-the-loop simulation models, and hardware-in-the-loop models
• Practical discussions of path generation and path modeling available in current literature
• In-depth examinations of collision free path planning and collision avoidance

Perfect for advanced undergraduate and graduate students with an interest in autonomous vehicles, Autonomous Road Vehicle Path Planning and Tracking Control is also an indispensable reference for practicing engineers working in autonomous driving technologies and the mobility groups and sections of automotive OEMs.

Table of contents

• Cover
• Title Page
• Copyright
• Contents
• About the Authors
• Preface
• List of Abbreviations
• Chapter 1 Introduction
• Chapter 2 Vehicle, Path, and Path Tracking Models
• Chapter 3 Simulation, Experimentation, and Estimation Overview
• Chapter 4 Path Description and Generation
• Chapter 5 Collision Free Path Planning
• Chapter 6 Path‐Tracking Model Regulation
• Chapter 7 Robust Path Tracking Control
• Chapter 8 Summary and Conclusions
• Index
• Books in the IEEE Press Series on Control Systems Theoryand Applications
• EULA