Four-Wheeled Vehicles with Path Generating Regulators Clothoid curve following experiment

Abstract

In a newly proposed method for resetting the origin in Frenet-Serret coordinates, the restrictions on applicable curve paths have been relaxed. Therefore, an experiment on following a clothoid curve to verify the effectiveness of the control method was conducted. The results of the driving experiment showed that the vehicle passed inside the target curve, influenced by the accumulation of negative errors in the posture angle sensor. Upon verifying the Lyapunov stability for straight path following, it was found that if negative errors accumulate, the y-coordinate takes a positive steady-state deviation.