Curve Tracking for Autonomous Vehicles with Rigidly Mounted Range Sensors
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Abstract
In this paper, we present a feedback control
law to make an autonomous vehicle with rigidly mounted
range sensors track a desired curve. In particular, we
consider a vehicle which has two range sensors that emit
rays perpendicular to the velocity of the vehicle. Under such
a sensor configuration, singularities are bound to occur in
the feedback control law. Thus, to overcome this, we derive
a hybrid strategy of switching between control laws close
to the singularity.
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2008-12
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