A waypoint tracking controller for autonomous road vehicles using ROS framework

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 way...

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Autores: Gutiérrez Moreno, Rodrigo, López Guillén, María Elena, Pérez Gil, Óscar, Barea Navarro, Rafael|||0000-0002-4179-6100, Bergasa Pascual, Luis Miguel|||0000-0002-0087-3077, Gómez Huélamo, Carlos, Egido Sierra, Javier del, López Fernández, Joaquín
Formato: artículo
Fecha de publicación:2020
País:España
Recursos:Universidad de Alcalá (UAH)
Repositorio:e_Buah Biblioteca Digital Universidad de Alcalá
Idioma:inglés
OAI Identifier:oai:ebuah.uah.es:10017/45409
Acesso em linha:http://hdl.handle.net/10017/45409
https://dx.doi.org/10.3390/s20144062
Access Level:acceso abierto
Palavra-chave:Path tracking control
Autonomous road vehicles
Robot Operating System (ROS)
Electrónica
Electronics
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repository_id_str
spelling A waypoint tracking controller for autonomous road vehicles using ROS frameworkGutiérrez Moreno, RodrigoLópez Guillén, María ElenaPérez Gil, ÓscarBarea Navarro, Rafael|||0000-0002-4179-6100Bergasa Pascual, Luis Miguel|||0000-0002-0087-3077Gómez Huélamo, CarlosEgido Sierra, Javier delLópez Fernández, JoaquínPath tracking controlAutonomous road vehiclesRobot Operating System (ROS)ElectrónicaElectronicsAutomated 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.Agencia Estatal de InvestigaciónComunidad de MadridMDPI20202020-07-01journal articlehttp://purl.org/coar/resource_type/c_6501NAhttp://purl.org/coar/version/c_be7fb7dd8ff6fe43info:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/10017/45409https://dx.doi.org/10.3390/s20144062reponame:e_Buah Biblioteca Digital Universidad de Alcaláinstname:Universidad de Alcalá (UAH)InglésengAgencia Estatal de Investigación http://dx.doi.org/10.13039/501100011033 Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020 RTI2018-099263-B-C21 TECNOLOGIAS ROBUSTAS PARA UN CONCEPTO DE COCHE ELECTRICO AUTOMATIZADO PARA CONDUCTORES MAYORESComunidad de Madrid http://dx.doi.org/10.13039/100012818 Not available P2018%2FNMT-4331 Madrid Robotics Digital Innovation Hubopen accesshttp://purl.org/coar/access_right/c_abf2Attribution-NonCommercial-NoDerivatives 4.0 Internationalhttp://creativecommons.org/licenses/by-nc-nd/4.0/info:eu-repo/semantics/openAccessoai:ebuah.uah.es:10017/454092026-06-18T11:13:07Z
dc.title.none.fl_str_mv A waypoint tracking controller for autonomous road vehicles using ROS framework
title A waypoint tracking controller for autonomous road vehicles using ROS framework
spellingShingle A waypoint tracking controller for autonomous road vehicles using ROS framework
Gutiérrez Moreno, Rodrigo
Path tracking control
Autonomous road vehicles
Robot Operating System (ROS)
Electrónica
Electronics
title_short A waypoint tracking controller for autonomous road vehicles using ROS framework
title_full A waypoint tracking controller for autonomous road vehicles using ROS framework
title_fullStr A waypoint tracking controller for autonomous road vehicles using ROS framework
title_full_unstemmed A waypoint tracking controller for autonomous road vehicles using ROS framework
title_sort A waypoint tracking controller for autonomous road vehicles using ROS framework
dc.creator.none.fl_str_mv Gutiérrez Moreno, Rodrigo
López Guillén, María Elena
Pérez Gil, Óscar
Barea Navarro, Rafael|||0000-0002-4179-6100
Bergasa Pascual, Luis Miguel|||0000-0002-0087-3077
Gómez Huélamo, Carlos
Egido Sierra, Javier del
López Fernández, Joaquín
author Gutiérrez Moreno, Rodrigo
author_facet Gutiérrez Moreno, Rodrigo
López Guillén, María Elena
Pérez Gil, Óscar
Barea Navarro, Rafael|||0000-0002-4179-6100
Bergasa Pascual, Luis Miguel|||0000-0002-0087-3077
Gómez Huélamo, Carlos
Egido Sierra, Javier del
López Fernández, Joaquín
author_role author
author2 López Guillén, María Elena
Pérez Gil, Óscar
Barea Navarro, Rafael|||0000-0002-4179-6100
Bergasa Pascual, Luis Miguel|||0000-0002-0087-3077
Gómez Huélamo, Carlos
Egido Sierra, Javier del
López Fernández, Joaquín
author2_role author
author
author
author
author
author
author
dc.subject.none.fl_str_mv Path tracking control
Autonomous road vehicles
Robot Operating System (ROS)
Electrónica
Electronics
topic Path tracking control
Autonomous road vehicles
Robot Operating System (ROS)
Electrónica
Electronics
description 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.
publishDate 2020
dc.date.none.fl_str_mv 2020
2020-07-01
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
NA
http://purl.org/coar/version/c_be7fb7dd8ff6fe43
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv http://hdl.handle.net/10017/45409
https://dx.doi.org/10.3390/s20144062
url http://hdl.handle.net/10017/45409
https://dx.doi.org/10.3390/s20144062
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.relation.none.fl_str_mv Agencia Estatal de Investigación http://dx.doi.org/10.13039/501100011033 Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020 RTI2018-099263-B-C21 TECNOLOGIAS ROBUSTAS PARA UN CONCEPTO DE COCHE ELECTRICO AUTOMATIZADO PARA CONDUCTORES MAYORES
Comunidad de Madrid http://dx.doi.org/10.13039/100012818 Not available P2018%2FNMT-4331 Madrid Robotics Digital Innovation Hub
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial-NoDerivatives 4.0 International
http://creativecommons.org/licenses/by-nc-nd/4.0/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial-NoDerivatives 4.0 International
http://creativecommons.org/licenses/by-nc-nd/4.0/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv MDPI
publisher.none.fl_str_mv MDPI
dc.source.none.fl_str_mv reponame:e_Buah Biblioteca Digital Universidad de Alcalá
instname:Universidad de Alcalá (UAH)
instname_str Universidad de Alcalá (UAH)
reponame_str e_Buah Biblioteca Digital Universidad de Alcalá
collection e_Buah Biblioteca Digital Universidad de Alcalá
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,300724

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