The taxi function

Alicia C. Sánchez


This paper investigated the lane keeping control and the lateral controlof autonomous ground vehicles, robots or the like considering theRAFU functions. A strategy based knowing the real position of severalpoints of the trajectory is proposed to achieve the lateral controlpurpose and maintain the lane keeping errors within the prescribedperformance boundaries. The RAFU function are applied to achieve thesegoals. The stability of these functions, their applicability to approachany arbitrary trajectory and the easy control of the possible errormade on the approximation are useful advantages in practice.


RAFU functions; lane keeping control; lateral control; automatic navigation systems

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