%0 Journal Article %A Gutiérrez Moreno, Rodrigo %A López Guillén, María Elena %A Pérez Gil, Óscar %A Barea Navarro, Rafael %A Bergasa Pascual, Luis Miguel %A Gómez Huélamo, Carlos %A Egido Sierra, Javier del %A López Fernández, Joaquín %T A waypoint tracking controller for autonomous road vehicles using ROS framework %D 2020 %U http://hdl.handle.net/10017/45409 %X 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. %K Path tracking control %K Autonomous road vehicles %K Robot Operating System (ROS) %K Electrónica %K Electronics %~ Biblioteca Universidad de Alcala