dc.contributor.author | Gutiérrez Moreno, Rodrigo | |
dc.contributor.author | López Guillén, María Elena | |
dc.contributor.author | Pérez Gil, Óscar | |
dc.contributor.author | Barea Navarro, Rafael | |
dc.contributor.author | Bergasa Pascual, Luis Miguel | |
dc.contributor.author | Gómez Huélamo, Carlos | |
dc.contributor.author | Egido Sierra, Javier del | |
dc.contributor.author | López Fernández, Joaquín | |
dc.date.accessioned | 2020-12-14T13:54:59Z | |
dc.date.available | 2020-12-14T13:54:59Z | |
dc.date.issued | 2020-07 | |
dc.identifier.bibliographicCitation | Gutiérrez, R., López-Guillén, E., Bergasa, L.M., Barea, R., Pérez, Ó., Gómez-Huélamo, C., Arango, F., del Egido, J. & López-Fernández, J. A. 2020, "A waypoint tracking controller for autonomous road vehicles using ROS framework", Sensors, vol. 20, no. 14, 4062 | |
dc.identifier.uri | http://hdl.handle.net/10017/45409 | |
dc.description.abstract | 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. | en |
dc.description.sponsorship | Agencia Estatal de Investigación | es_ES |
dc.description.sponsorship | Comunidad de Madrid | es_ES |
dc.format.mimetype | application/pdf | en |
dc.language.iso | eng | en |
dc.publisher | MDPI | |
dc.rights | Attribution-NonCommercial-NoDerivatives 4.0 Internacional | * |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/ | * |
dc.subject | Path tracking control | en |
dc.subject | Autonomous road vehicles | en |
dc.subject | Robot Operating System (ROS) | en |
dc.title | A waypoint tracking controller for autonomous road vehicles using ROS framework | en |
dc.type | info:eu-repo/semantics/article | en |
dc.subject.eciencia | Electrónica | es_ES |
dc.subject.eciencia | Electronics | en |
dc.contributor.affiliation | Universidad de Alcalá. Departamento de Electrónica | es_ES |
dc.relation.publisherversion | https://doi.org/10.3390/s20144062 | |
dc.type.version | info:eu-repo/semantics/publishedVersion | en |
dc.identifier.doi | 10.3390/s20144062 | |
dc.relation.projectID | info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020/RTI2018-099263-B-C21/ES/TECNOLOGIAS ROBUSTAS PARA UN CONCEPTO DE COCHE ELECTRICO AUTOMATIZADO PARA CONDUCTORES MAYORES/ | en |
dc.relation.projectID | info:eu-repo/grantAgreement/CAM//P2018%2FNMT-4331/ES/Madrid Robotics Digital Innovation Hub/RoboCity2030-DIH-CM | en |
dc.rights.accessRights | info:eu-repo/semantics/openAccess | en |
dc.identifier.publicationtitle | Sensors | |
dc.identifier.publicationvolume | 20 | |
dc.identifier.publicationissue | 14 | |