摘要：AbstractThis paper deals with guidance problem of autonomous vehicles. These guidance strategies are typically based on the lateral error of the center of gravity (CoG). Recently, the center of percussion (CoP) has been used to design a steering controllers, particularly in critical situations. However, no comparison using the CoG and the CoP has been done to the best of the authors’ knowledge. This paper presents a comparison of two lateral guidance strategies based on the CoG and on the CoP using the same control strategy. This last consists in a feedforward coupled with a robust state-feedback. The performance of the strategies and the robustness of the controllers with respect to the variation of the speed are demonstrated by simulation tests.
关键词：Keywordslateral guidancepath trackingvehicle dynamicscontrolcenter of percussion
