Daniel Krakowczyk

A path following control architecture for autonomous vehicles

Betreuer: Raúl Rojas , Daniel Goehring
Abschluss: Bachelor of Science (B.Sc.)
Abgabedatum: 15.10.2014
Sprache: eng


After planning, adequate actions have to be taken. This thesis presents a control architecture for an autonomous model car to achieve a stable and accurate path following behavior. This encompasses a steering controller to drive desired curvatures computed by a pure pursuit algorithm. Additionally, an open-loop controller was implemented to determine a safe speed for driving curves and stopping on the path’s end.