A Simple and Robust Path Follower

2010-01-0717

04/12/2010

Event
SAE 2010 World Congress & Exhibition
Authors Abstract
Content
A simple and robust path follower has been developed for use in road loads simulations as required for virtual evaluation of vehicle durability and strength. The path follower is described as simple because it has a single tunable parameter and minimal control logic. It is deemed robust because the same gain setting can be used over a wide range of terrains, paths, and speeds. Path following performance is successfully demonstrated with a multibody vehicle model of a generic heavy truck for a variety of terrains, paths, and speeds. The convergence to the desired path during parameter tuning is observed to be monotonic. A physical interpretation of the gain as a maximum centripetal acceleration further enables vehicles in the same or similar classes of mobility characteristics (all off-road trucks for example) to utilize the same gain value.
Meta TagsDetails
DOI
https://doi.org/10.4271/2010-01-0717
Pages
8
Citation
Critchley, J., and Jayakumar, P., "A Simple and Robust Path Follower," SAE Technical Paper 2010-01-0717, 2010, https://doi.org/10.4271/2010-01-0717.
Additional Details
Publisher
Published
Apr 12, 2010
Product Code
2010-01-0717
Content Type
Technical Paper
Language
English