@article{ref1,
title="A waypoint tracking controller for autonomous road vehicles using ROS framework",
journal="Sensors (Basel)",
year="2020",
author="Gutiérrez, Rodrigo and López-Guillén, Elena and Bergasa, Luis M. and Barea, Rafael and Pérez, Óscar and Gómez-Huélamo, Carlos and Arango, Felipe and Del Egido, Javier and López-Fernández, Joaquín",
volume="20",
number="14",
pages="e4062-e4062",
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.<p /> <p>Language: en</p>",
language="en",
issn="1424-8220",
doi="10.3390/s20144062",
url="http://dx.doi.org/10.3390/s20144062"
}