A Waypoint Tracking Controller for Autonomous Road Vehicles Using ROS Framework

Automated Driving Systems (ADSs) require robust and scalable control systems in order to achieve a safe, efficient and comfortable driving experience. Most global planners for autonomous vehicles provide as output a sequence of waypoints to be followed. This paper proposes a modular and scalable way...

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Bibliographic Details
Published in:Sensors (Basel, Switzerland) Switzerland), 2020-07, Vol.20 (14), p.4062
Main Authors: Gutiérrez, Rodrigo, López-Guillén, Elena, Bergasa, Luis M., Barea, Rafael, Pérez, Óscar, Gómez-Huélamo, Carlos, Arango, Felipe, del Egido, Javier, López-Fernández, Joaquín
Format: Article
Language:English
Subjects:
Actuators
Automation
autonomous road vehicles
Autonomous vehicles
Behavior
Controllers
Interpolation
Medical research
Optimal control
path tracking control
Planning
Roads & highways
Robot Operating System (ROS)
Robots
Robust control
Sensors
Simulators
Trajectory control
Urban environments
Vehicles
Velocity
Waypoints
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Summary:Automated Driving Systems (ADSs) require robust and scalable control systems in order to achieve a safe, efficient and comfortable driving experience. Most global planners for autonomous vehicles provide as output a sequence of waypoints to be followed. This paper proposes a modular and scalable waypoint tracking controller for Robot Operating System (ROS)-based autonomous guided vehicles. The proposed controller performs a smooth interpolation of the waypoints and uses optimal control techniques to ensure robust trajectory tracking even at high speeds in urban environments (up to 50 km/h). The delays in the localization system and actuators are compensated in the control loop to stabilize the system. Forward velocity is adapted to path characteristics using a velocity profiler. The controller has been implemented as an ROS package providing scalability and exportability to the system in order to be used with a wide variety of simulators and real vehicles. We show the results of this controller using the novel and hyper realistic CARLA Simulator and carrying out a comparison with other standard and state-of-art trajectory tracking controllers.
ISSN:1424-8220
1424-8220
DOI:10.3390/s20144062