Path following for autonomous vehicle navigation with inherent safety and dynamics margin

@article{Macek2008PathFF,
  title={Path following for autonomous vehicle navigation with inherent safety and dynamics margin},
  author={Kristijan Macek and Rolland Philippsen and Roland Y. Siegwart},
  journal={2008 IEEE Intelligent Vehicles Symposium},
  year={2008},
  pages={108-113}
}
This paper addresses the path following problem for autonomous Ackermann-like vehicle navigation. A control strategy that takes into account both kinodynamic and configuration space constraints of the vehicle, denoted as traversability-anchored dynamic path following (TADPF) controller is presented. It ensures secure vehicle commands in presence of obstacles, based on traversability information given by a global navigation function. By additionally using a reference point on the global smooth… 

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