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8 Unified Control Design
for Autonomous
Car-Like Vehicle
Tracking Maneuvers
Danwei Wang and Minhtuan Pham
CONTENTS
8.1 Introduction ............................................................ 295
8.2 Dynamics of Tracking Maneuvers .................................... 297
8.2.1 Vehicle Kinematics and Dynamics ........................... 297
8.2.2 Dynamics of Tracking Maneuvers ........................... 298
8.3 A Unified Tracking Controller ........................................ 299
8.3.1 Kinematics-Based Tracking Controller ...................... 308
8.3.2 Dynamics-Based Tracking Controller........................ 310
8.3.3 Requirement of Measurements ............................... 313
8.4 Tracking Performance Evaluation .................................... 314
8.4.1 Forward Tracking Control .................................... 315
8.4.1.1 Influence of parameter p ........................... 315
8.4.1.2 Influence of parameter l ............................ 318
8.4.2 Backward Tracking Control .................................. 320
8.4.2.1 Influence of parameter p ........................... 321
8.4.2.2 Influence of parameter l ............................ 324
8.5 Conclusions ............................................................ 324
References .................................................................... 327
Biographies ................................................................... 328
8.1 INTRODUCTION
Vehicle tracking has been one keen research topic on autonomous vehicles and
mobile robotics in recent years. A vehicle tracking system consists of at least
two vehicles. One vehicle leads a platoon while others autonomously track
295
© 2006 by Taylor & Francis Group, LLC
FRANKL: “dk6033_c008” — 2006/3/31 — 16:43 — page 295 — #1
