TY - JOUR PY - 2020// TI - A waypoint tracking controller for autonomous road vehicles using ROS framework JO - Sensors (Basel) A1 - Gutiérrez, Rodrigo A1 - López-Guillén, Elena A1 - Bergasa, Luis M. A1 - Barea, Rafael A1 - Pérez, Óscar A1 - Gómez-Huélamo, Carlos A1 - Arango, Felipe A1 - Del Egido, Javier A1 - López-Fernández, Joaquín SP - e4062 EP - e4062 VL - 20 IS - 14 N2 - 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.

Language: en

LA - en SN - 1424-8220 UR - http://dx.doi.org/10.3390/s20144062 ID - ref1 ER -