Author(s) Name:  Levent Guvenc, Bilin Aksun-Guvenc, Sheng Zhu, Sukru Yaren Gelbal

About the Book:

   In Autonomous Road Vehicle Path Planning and Tracking Control, a team of distinguished researchers delivers a practical and insightful exploration of how to design robust path tracking control. The authors include easy to understand concepts that are immediately applicable to the work of practicing control engineers and graduate students working in autonomous driving applications. Controller parameters are presented graphically, and regions of guaranteed performance are simple to visualize and understand.
   The book discusses the limits of performance, as well as hardware-in-the-loop simulation and experimental results that are implementable in real-time. Concepts of collision and avoidance are explained within the same framework and a strong focus on the robustness of the introduced tracking controllers is maintained throughout.
   In addition to a continuous treatment of complex planning and control in one relevant application, the Autonomous Road Vehicle Path Planning and Tracking Control includes:
   • A thorough introduction to path planning and robust path tracking control for autonomous road vehicles, as well as a literature review with key papers and recent developments in the area.
   • Comprehensive explorations of vehicle, path, and path tracking models, model-in-the-loop simulation models, and hardware-in-the-loop models
   • Practical discussions of path generation and path modeling available in current literature
   • In-depth examinations of collision free path planning and collision avoidance

Table of Contents

1. Introduction

  1.1 Motivation and Introduction
  1.2 History of Automated Driving

2. Vehicle, Path and Path Tracking Models

  2.1 Tire Force Model
  Vehicle longitudinal dynamics model
  2.3 Vehicle Lateral Dynamics Model

3. Simulation, Experimentation and Estimation Overview

  3.1 Introduction to the Simulation Based Development and Evaluation Process
  3.2 Model-in-the-Loop Simulation

4. Path Description and Generation

  4.1 Introduction
  4.2 Discrete Waypoint Representation
  4.3 Parametric Path Description

5. Collision Free Path Planning

  5.1 Introduction
  5.2 Elastic Band Method

6. Path Tracking Model Regulation

  6.1 Introduction
  6.2 DOB Design and Frequency Response Analysis
  6.3 Q Filter Design

7. Robust Path Tracking Control

  7.1 Model Predictive Control for Path Following
  7.2 Design Methodology for Robust Gain-scheduling Law
  7.3 Robust Gain-scheduling Application to Path Tracking Control

ISBN:  978-1-119-74794-9

Publisher:  Wiley-IEEE Press

Year of Publication:  2021

Book Link:  Home Page Url