Pure pursuit revisited: Field testing of autonomous vehicles in urban areas

Hiroki Ohta, Naoki Akai, Eijiro Takeuchi, Shinpei Kato, Masato Edahiro

研究成果: Conference contribution

21 被引用数 (Scopus)

抄録

In this paper, we aim to explore path following. We implement a path following component by referring to the existing Pure Pursuit algorithm. Using the simulation and field operational test, we identified the problem in the path following component. The main problems identified were with respect to vehicles meandering off the path, turning a corner, and the instability of steering control. Therefore, we apply some modifications to the Pure Pursuit[1] algorithm. We have also conducted the simulation and field operational tests again to evaluate these modifications.

本文言語English
ホスト出版物のタイトルProceedings - 4th IEEE International Conference on Cyber-Physical Systems, Networks, and Applications, CPSNA 2016
出版社Institute of Electrical and Electronics Engineers Inc.
ページ7-12
ページ数6
ISBN(電子版)9781509044030
DOI
出版ステータスPublished - 2016 12月 22
イベント4th IEEE International Conference on Cyber-Physical Systems, Networks, and Applications, CPSNA 2016 - Nagoya, Japan
継続期間: 2016 10月 62016 10月 7

出版物シリーズ

名前Proceedings - 4th IEEE International Conference on Cyber-Physical Systems, Networks, and Applications, CPSNA 2016

Conference

Conference4th IEEE International Conference on Cyber-Physical Systems, Networks, and Applications, CPSNA 2016
国/地域Japan
CityNagoya
Period16/10/616/10/7

ASJC Scopus subject areas

  • コンピュータ サイエンスの応用
  • コンピュータ ネットワークおよび通信
  • ハードウェアとアーキテクチャ
  • 人工知能
  • コンピュータ ビジョンおよびパターン認識

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