A simple yet efficient Path Tracking Controller for Autonomous Trucks

摘要

This paper presents a path tracking controller implemented for the Robot Operating System (ROS). It is developed for the funded project AutoTruck in which a 18 t truck will be automated for yard applications. The goal was to design a simple yet sufficient controller, whic hcould also be used on a standard in vehicle control unit. Therefore, no advanced non linear controller was designed. The controller is a combination of a PID controller and a point follow controller. Both controllers individually have their drawbacks for the application. However, the combination proves to provide a good tracking performance. The controllers are tested in simulaiton and with 1:32 scale trucks in the test environment called DriveLab.