Car-like Robot Path Tracker with Kinematic Constraints

Safety is one of the vital features in autonomous car that has to be seriously taken into consideration in developing such a car. One of the safety issues for autonomous car is the car inability to faithfully track a pre-planned path, which might cause the car deviate from its intended course. This could lead the car to crash or involve in accident. To address this issue, this paper proposes a path tracking method based on Proportional and Proportional-Derivative controllers considering the kinematic constraints of the car. The performance of both controllers for car-like robot path tracking is evaluated and analysed. The proposed method has been proven to minimize the tracking errors which could help to enhance the safety level of the car.