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Renan R. Sacco
Grupo de Eletrônica de Potência e Controle, Universidade Federal de Santa Maria, RS
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Maicon de Miranda
Grupo de Eletrônica de Potência e Controle, Universidade Federal de Santa Maria, RS
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Fábio E. Bisogno
Grupo de Eletrônica de Potência e Controle, Universidade Federal de Santa Maria, RS
Keywords:
Steering Control, Lateral Position Control, Lookahead Algorithm, Linear Quadratic Tracker, Vehicle Modeling
Abstract
The present work deals with algorithms for lateral position control and steering of land vehicles. The lateral position control is based on the Lookahead algorithm, and two methods for steering control are analyzed: classical and LQT. The Lookahead algorithm and the two designed controllers are evaluated in simulations for straight and circular paths. It appears that both architectures achieve satisfactory results, although they have significant design differences.
