自動運転ナビゲーションのためのPID制御とPure Pursuit制御アルゴリズムに関する包括的サーベイ
A Comprehensive Survey of PID and Pure Pursuit Control Algorithms for Autonomous Vehicle Navigation
自動運転における横方向・縦方向制御の代表的手法であるPID制御とPure Pursuit制御について、基本原理から応用、将来展望までをまとめたサーベイ論文。
著者: Harshit Jain, Priyal Babel
分類: cs.RO
原文アブストラクト
The autonomous driving industry is experiencing unprecedented growth, driven by rapid advancements in technology and increasing demand for safer, more efficient transportation. At the heart of this revolution are two critical factors: lateral and longitudinal controls, which together enable vehicles to track complex environments with high accuracy and minimal errors. This paper provides a detailed overview of two of the field's most commonly used and stable control algorithms: proportional-integral-derivative (PID) and pure pursuit. These algorithms have proved useful in solving the issues of lateral (steering) and longitudinal (speed and distance) control in autonomous vehicles. This survey aims to provide researchers, engineers, and industry professionals with an in depth understanding of these fundamental control algorithms, their current applications, and their potential to shape the future of autonomous driving technology.