A Corrector-aided Look-ahead Distance-based Guidance for Online Reference Path Following with an Efficient Mid-course Guidance Strategy
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arXiv
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| Autori principali: | , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| _version_ | 1866914074157121536 |
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| author | Dhillon, Reva Deepa, Agni Ravi Das, Hrishav Basak, Subham Ghosh, Satadal |
| author_facet | Dhillon, Reva Deepa, Agni Ravi Das, Hrishav Basak, Subham Ghosh, Satadal |
| contents | Efficient path-following is crucial in most of the applications of autonomous vehicles (UxV). Among various guidance strategies presented in literature, the look-ahead distance ($L_1$)-based nonlinear guidance has received significant attention due to its ease in implementation and ability to maintain a low cross-track error while following simpler reference paths and generating bounded lateral acceleration commands. However, the constant value of $L_1$ becomes problematic when the UxV is far away from the reference path and also produces higher cross-track error while following complex reference paths having high variation in radius of curvature. To address these challenges, the notion of look-ahead distance is leveraged in a novel way to develop a two-phase guidance strategy. Initially, when the UxV is far from the reference path, an optimized $L_1$ selection strategy is developed to guide the UxV towards the vicinity of the start point of the reference path, while maintaining minimal lateral acceleration command. Once the vehicle reaches a close neighborhood of the reference path, a novel notion of corrector point is incorporated in the constant $L_1$-based guidance scheme to generate the guidance command that effectively reduces the root mean square of the cross-track error and lateral acceleration requirement thereafter. Simulation results validate satisfactory performance of this proposed corrector point and look-ahead point pair-based guidance strategy, along with the developed mid-course guidance scheme. Also, its superiority over the conventional constant $L_1$ guidance scheme is established by simulation studies over different initial condition scenarios. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2504_05975 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | A Corrector-aided Look-ahead Distance-based Guidance for Online Reference Path Following with an Efficient Mid-course Guidance Strategy Dhillon, Reva Deepa, Agni Ravi Das, Hrishav Basak, Subham Ghosh, Satadal Robotics Systems and Control Efficient path-following is crucial in most of the applications of autonomous vehicles (UxV). Among various guidance strategies presented in literature, the look-ahead distance ($L_1$)-based nonlinear guidance has received significant attention due to its ease in implementation and ability to maintain a low cross-track error while following simpler reference paths and generating bounded lateral acceleration commands. However, the constant value of $L_1$ becomes problematic when the UxV is far away from the reference path and also produces higher cross-track error while following complex reference paths having high variation in radius of curvature. To address these challenges, the notion of look-ahead distance is leveraged in a novel way to develop a two-phase guidance strategy. Initially, when the UxV is far from the reference path, an optimized $L_1$ selection strategy is developed to guide the UxV towards the vicinity of the start point of the reference path, while maintaining minimal lateral acceleration command. Once the vehicle reaches a close neighborhood of the reference path, a novel notion of corrector point is incorporated in the constant $L_1$-based guidance scheme to generate the guidance command that effectively reduces the root mean square of the cross-track error and lateral acceleration requirement thereafter. Simulation results validate satisfactory performance of this proposed corrector point and look-ahead point pair-based guidance strategy, along with the developed mid-course guidance scheme. Also, its superiority over the conventional constant $L_1$ guidance scheme is established by simulation studies over different initial condition scenarios. |
| title | A Corrector-aided Look-ahead Distance-based Guidance for Online Reference Path Following with an Efficient Mid-course Guidance Strategy |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2504.05975 |