@conference {
    orvium-65bbc2e6315708a53e169769,
    title = "On the Development of a Path Tracking Controller by combining Optimal Preview Control and Pursuit Control Methods",
    abstract = "Path tracking controllers are an important part when developing self-driving vehicles.
When designing such a controller for a single-track vehicle, a major challenge is that the vehicle not only has to follow a predefined path but has to be stabilized at the same time.
Especially if the vehicle has slow steering dynamics (e.g.
τ > 1.5s) and the path contains tight corners which should not be cut (e.g. directional change of more than 90° in less than 2s), the design of a suitable path tracking controller can be difficult.
In this work an optimal preview controller that stabilizes a bicycle and that can track a given yaw rate trajectory is combined with a quintic polynomial pursuit controller.
With this approach, we can achieve good tracking performance for the predefined paths, which can be seen in the simulation and experimental results.",
    keywords = "bicycle dynamics, stabilization, optimal preview control, path tracking, pursuit control, quintic polynomials",
    author = "David Gabriel and Daniel Görges and Daniel Baumgärtner",
    year = "2024",
    doi = "10.59490/65bbc2e6315708a53e169769",
    language = "English",
    url = "https://dapp.orvium.io/deposits/65bbc2e6315708a53e169769/view",
}