Abstract
Developers of autonomous vehicle control schemes and path planning algorithms typically face a substantial obstacle in implementation and testing. The portable controller proposed here contains the actuators, sensors, and low-level servocontrollers allowing developers to readily implement their lateral and/or longitudinal control algorithms (or other vehicle control-related technique) on any passenger car or light truck with an automatic transmission. Developed originally for vehicle dynamics testing, this system is evaluated on several vehicles with controllers described herein.
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Mikesell, D., Heydinger, G., Guenther, D., Yoder, JD. (2009). Portable Autonomous Vehicle Controller. In: Khatib, O., Kumar, V., Pappas, G.J. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 54. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-00196-3_5
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DOI: https://doi.org/10.1007/978-3-642-00196-3_5
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