不確実性下におけるアンセンテッド変換を用いた純追従経路追従アルゴリズム
Unscented Transform-based Pure Pursuit Path-Tracking Algorithm under Uncertainty
自己位置推定や周囲認識の不確実性をアンセンテッド変換で考慮し、経路追従精度を向上させる改良型純追従アルゴリズムを提案し、直線・円形路でのシミュレーションで検証した。
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Automated driving has become more and more popular due to its potential to eliminate road accidents by taking over driving tasks from humans. One of the remaining challenges is to follow a planned path autonomously, especially when uncertainties in self-localizing or understanding the surroundings can influence the decisions made by autonomous vehicles, such as calculating how much they need to steer to minimize tracking errors. In this paper, a modified geometric pure pursuit path-tracking algorithm is proposed, taking into consideration such uncertainties using the unscented transform. The algorithm is tested through simulations for typical road geometries, such as straight and circular lines.
