Path tracking using simple planar curves
Abresch, Richard James
McGhee, Robert B.
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This thesis presents a method of controlling an autonomous vehicle's motion in a two dimensional environment. Its' purpose is to expand the functionality of a vehicle's motion by complementing a point to point path planning scheme with a path to path scheme. The method introduced in this paper will use the vehicle's position and the desired path to calculate the necessary curvature to effect movement onto the desired reference path. The reference path will be a simple planar curve, such as, a circle or line. After successful testing of an operating algorithm, the method shall be incorporated into a robot's software system. This path tracking method will lay the groundwork for a dynamic obstacle avoidance system for a mobile robot.
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