Unscented Transform-Based Pure Pursuit Path-Tracking Algorithm Under Uncertainty

Chinnawut Nantabut

2024

Abstract

Automated driving has become more and more popular due to its potential to eliminate road accidents by taking over driving tasks from humans. One of the remaining challenges is to follow a planned path autonomously, especially when uncertainties in self-localizing or understanding the surroundings can influence the decisions made by autonomous vehicles, such as calculating how much they need to steer to minimize tracking errors. In this paper, a modified geometric pure pursuit path-tracking algorithm is proposed, taking into consideration such uncertainties using the unscented transform. The algorithm is tested through simulations for typical road geometries, such as straight and circular lines.

Paper Citation

in Harvard Style

Nantabut C. (2024). Unscented Transform-Based Pure Pursuit Path-Tracking Algorithm Under Uncertainty. In Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-717-7, SciTePress, pages 182-189. DOI: 10.5220/0012981400003822

in Bibtex Style

@conference{icinco24,
author={Chinnawut Nantabut},
title={Unscented Transform-Based Pure Pursuit Path-Tracking Algorithm Under Uncertainty},
booktitle={Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2024},
pages={182-189},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012981400003822},
isbn={978-989-758-717-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - Unscented Transform-Based Pure Pursuit Path-Tracking Algorithm Under Uncertainty
SN - 978-989-758-717-7
AU - Nantabut C.
PY - 2024
SP - 182
EP - 189
DO - 10.5220/0012981400003822
PB - SciTePress