Path Seeker Limited

Path Seeker
Path Tracking Control for Autonomous Road Vehicles > Project Overview

Path Seeker Overview

[ << Introduction | Go To Overview Contents | Project Scope >> ]

Path Tracking Control

Dubins' Car

In the past two or three decades, a lot of interest has emerged in the development of path tracking control schemes for wheeled vehicles that only move forward on a planar surface and have a bounded turning radius. Such a vehicle is called a Dubins' car in honour of the mathematician L. E. Dubins, who first addressed this control problem.

The Path Seeker is a very simple version of a Dubins car. The motivation for developing control schemes for Dubins' cars is that they are an essential part of the kinematic models of road vehicles. Dubins demonstrated that a vehicle that can only move forward with curvature bounds (i.e. a road vahicle) is controllable.

A wide variety of control schemes have been developed for Dubins' cars.

This website has been designed for the ELEC / CENG 499 design project at the University of Victoria.
The Path Seeker project team's supervisor was Dr. Ashoka Bhat

Copyright © 2004 Jeffothy Enterprises. All Rights Reserved