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A Path Tracking Algorithm Using Future Prediction Control with Spike Detection for an Autonomous Vehicle Robot

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Academic year: 2021

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Figure

Figure 1. Future Prediction Steering Control Block Diagram   Figure  1  shows  the  overall  control  system
Figure 2. Current Position and Future Position of the Vehicle   The  controller  is  used  to  the  generate  yaw  rate  that  is  required for the vehicle to navigate its position from the  predictedvehicle  location  to  the  reference  path
Figure 3.1 Lateral Response for Multiple Gain K 1
Figure 4. Actual and Reference Vehicle Trajectory
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