[Tyler]

Path Tracking for Car-Like Robots
     

The CMU Robotics Institute has
published a new paper by Jarrod M.
Snider, "Automatic
Steering Methods for Autonomous Automobile Path Tracking" (PDF
format). This 78 page paper compares a variety of tracking models and
control algorithms for robots with car-like steering mechanisms. Topics
covered include geometric path tracking, path tracking using kinematics,
and path tracking using a dynamic model. The Conclusion? "The
performance results, analysis and comparison of tracking
methods ultimately reveal that none of the approaches work well in all
applications." The author suggests that combining several methods
may give a more
useful result in the real world.
   

http://robots.net/article/2794.html