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A Simple Yet Efficient Path Tracking Controller for Autonomous Trucks

: Kolb, Julius Karim; Nitzsche, Gunter; Wagner, Sebastian


IFAC-PapersOnLine 52 (2019), No.8, pp.307-312
ISSN: 2405-8963
ISSN: 1474-6670
Symposium on Intelligent Autonomous Vehicles (IAV) <10, 2019, Gdansk>
Journal Article, Conference Paper
Fraunhofer IVI ()
autonomous vehicle; closed loop control; Robot Operating System (ROS); PID control; AutoTruck; DriveLab

This paper presents a path tracking controller implemented for the Robot Operating System (ROS). It is developed for the funded project AutoTruck in which a 18 t truck will be automated for yard applications. The goal was to design a simple yet sufficient controller, whic hcould also be used on a standard in vehicle control unit. Therefore, no advanced non linear controller was designed. The controller is a combination of a PID controller and a point follow controller. Both controllers individually have their drawbacks for the application. However, the combination proves to provide a good tracking performance. The controllers are tested in simulaiton and with 1:32 scale trucks in the test environment called DriveLab.