![Comparing the performance of lateral control algorithms on long rigid vehicles in urban environments](/rails/active_storage/representations/proxy/eyJfcmFpbHMiOnsibWVzc2FnZSI6IkJBaHBBc01NIiwiZXhwIjpudWxsLCJwdXIiOiJibG9iX2lkIn19--93ae9910f00f777d4b074dda6e8f2b15ece31f92/eyJfcmFpbHMiOnsibWVzc2FnZSI6IkJBaDdCem9MWm05eWJXRjBTU0lJYW5CbkJqb0dSVlE2QzNKbGMybDZaVWtpRFRZd01IZzJNREErQmpzR1ZBPT0iLCJleHAiOm51bGwsInB1ciI6InZhcmlhdGlvbiJ9fQ==--a3b53ba1a0f83efef18f6e75a8d4ce784384bee2/Homepage%20image.jpg)
Here, seeking to better understand the control algorithms used in autonomous vehicles, the authors compared the Stanley and pure pursuit control algorithms along with a new version of each. Unexpectedly, they found that no control algorithm offered optimal performance, but rather resulted in tradeoffs between the various ideal results.
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