Leader-Based Trajectory Following in Unstructured Environments—From Concept to Real-World Implementation
In this paper, the problem of vehicle guidance by means of an external leader is described. The objective is to navigate a four-wheeled vehicle through unstructured environments, characterized by the lack of availability of typical guidance infrastructure like lane markings or HD maps. The trajector...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-06-01
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| Series: | Electronics |
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| Online Access: | https://www.mdpi.com/2079-9292/11/12/1866 |
| _version_ | 1797487954655969280 |
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| author | Georg Nestlinger Johannes Rumetshofer Selim Solmaz |
| author_facet | Georg Nestlinger Johannes Rumetshofer Selim Solmaz |
| author_sort | Georg Nestlinger |
| collection | DOAJ |
| description | In this paper, the problem of vehicle guidance by means of an external leader is described. The objective is to navigate a four-wheeled vehicle through unstructured environments, characterized by the lack of availability of typical guidance infrastructure like lane markings or HD maps. The trajectory-following approach is based on an estimate of the leader’s path. For that, position measurements are stored over time with respect to an inertial frame. A new strategy is proposed to rate the significance of position measurements and ensure that a certain threshold of stored samples is not exceeded. Having an estimate of the leader path is essential to prevent the cutting-corner phenomenon and for exact path following in general. A spline-approximation technique is applied to obtain a smooth reference path for the underlying lateral and longitudinal motion controllers. For longitudinal tracking, a constant time-headway policy was implemented, to follow the leader with a constant time gap along the estimated path. The algorithm was first developed and tested in a simulation framework and then deployed in a demonstrator vehicle for validation under real operating conditions. The presented experimental results were achieved using only on-board sensors of the demonstrator vehicle, while high-accuracy differential GPS-based position measurements serve as the ground truth data for visualization. |
| first_indexed | 2024-03-09T23:56:10Z |
| format | Article |
| id | doaj.art-1b868525bb1b4fd2b5b40337523b5df4 |
| institution | Directory Open Access Journal |
| issn | 2079-9292 |
| language | English |
| last_indexed | 2024-03-09T23:56:10Z |
| publishDate | 2022-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Electronics |
| spelling | doaj.art-1b868525bb1b4fd2b5b40337523b5df42023-11-23T16:25:00ZengMDPI AGElectronics2079-92922022-06-011112186610.3390/electronics11121866Leader-Based Trajectory Following in Unstructured Environments—From Concept to Real-World ImplementationGeorg Nestlinger0Johannes Rumetshofer1Selim Solmaz2Virtual Vehicle Research GmbH, Inffeldgasse 21a, 8010 Graz, AustriaVirtual Vehicle Research GmbH, Inffeldgasse 21a, 8010 Graz, AustriaVirtual Vehicle Research GmbH, Inffeldgasse 21a, 8010 Graz, AustriaIn this paper, the problem of vehicle guidance by means of an external leader is described. The objective is to navigate a four-wheeled vehicle through unstructured environments, characterized by the lack of availability of typical guidance infrastructure like lane markings or HD maps. The trajectory-following approach is based on an estimate of the leader’s path. For that, position measurements are stored over time with respect to an inertial frame. A new strategy is proposed to rate the significance of position measurements and ensure that a certain threshold of stored samples is not exceeded. Having an estimate of the leader path is essential to prevent the cutting-corner phenomenon and for exact path following in general. A spline-approximation technique is applied to obtain a smooth reference path for the underlying lateral and longitudinal motion controllers. For longitudinal tracking, a constant time-headway policy was implemented, to follow the leader with a constant time gap along the estimated path. The algorithm was first developed and tested in a simulation framework and then deployed in a demonstrator vehicle for validation under real operating conditions. The presented experimental results were achieved using only on-board sensors of the demonstrator vehicle, while high-accuracy differential GPS-based position measurements serve as the ground truth data for visualization.https://www.mdpi.com/2079-9292/11/12/1866vehicle followingpath followingpath trackingsplinesspline approximation |
| spellingShingle | Georg Nestlinger Johannes Rumetshofer Selim Solmaz Leader-Based Trajectory Following in Unstructured Environments—From Concept to Real-World Implementation Electronics vehicle following path following path tracking splines spline approximation |
| title | Leader-Based Trajectory Following in Unstructured Environments—From Concept to Real-World Implementation |
| title_full | Leader-Based Trajectory Following in Unstructured Environments—From Concept to Real-World Implementation |
| title_fullStr | Leader-Based Trajectory Following in Unstructured Environments—From Concept to Real-World Implementation |
| title_full_unstemmed | Leader-Based Trajectory Following in Unstructured Environments—From Concept to Real-World Implementation |
| title_short | Leader-Based Trajectory Following in Unstructured Environments—From Concept to Real-World Implementation |
| title_sort | leader based trajectory following in unstructured environments from concept to real world implementation |
| topic | vehicle following path following path tracking splines spline approximation |
| url | https://www.mdpi.com/2079-9292/11/12/1866 |
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