View source for Nonlinear Lateral Control Strategy for Nonholonomic Vehicles

{{HTDB paper
| authors = Magnus Linderoth, Kristian Soltesz, Richard M Murray
| title = Nonlinear Lateral Control Strategy for Nonholonomic Vehicles 
| source = American Control Conference
| year = 2008
| type = Preprint
| funding = 
| url = http://www.cds.caltech.edu/~murray/preprints/lsm08-acc.pdf
| abstract = This paper proposes an intuitive nonlinear lateral control strategy for trajectory tracking in autonomous 
nonholonomic vehicles. The controller has been implemented  and verified in Alice, Team Caltech's contribution to the  2007 DARPA Urban Challenge competition for autonomous 
motorcars. A kinematic model is derived. The control law is  described and analyzed. Results from simulations and field tests are given and evaluated. Finally, the key features of the proposed controller are reviewed, followed by a discussion of some limitations of the proposed strategy.
| flags = 
| tag = lsm08-acc
| id = 2007l
}}