An Improved Pure Pursuit Algorithm for Four-Wheel-Steering Autonomous Driving Vehicle

Miao Miao Quan; Yong Zhai; Yan Jiang; Yin Jian Sun; Da Lu Xu; Jian Wei Gong

doi:10.4028/www.scientific.net/AMM.511-512.958

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 511-512An Improved Pure Pursuit Algorithm for...

An Improved Pure Pursuit Algorithm for Four-Wheel-Steering Autonomous Driving Vehicle

Abstract:

An improved pure pursuit path tracking algorithm is presented for a four-wheel steering (4WS) carrier vehicle to follow a desired path automatically. A bicycle vehicle model considering the 4WS carrier vehicles structural and steering features is applied in the method. Real vehicle tests in an open large outdoor warehouse showed that the lateral tracking error was less than 0.56m at 20km/h. And we can conclude that the enhanced method for 4WS vehicle has good tracking ability on flat road.

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Periodical:

Applied Mechanics and Materials (Volumes 511-512)

Pages:

958-962

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.511-512.958

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Online since:

February 2014

Authors:

Miao Miao Quan, Yong Zhai, Yan Jiang*, Yin Jian Sun, Da Lu Xu, Jian Wei Gong

Keywords:

Autonomous Driving Vehicle, Four-Wheel-Steering, Path Tracking, Pure Pursuit

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* - Corresponding Author

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