A path following control algorithm for urban driving

A path following algorithm for urban driving is presented in this paper. The algorithm is designed specially to reduce path following errors caused by cornering and unsuitable set speed. We introduce a circular look-ahead (CLA) steering controller which can control a car to precisely follow a path even on a curvy road, and also propose a speed control algorithm integrated with the CLA steering controller to ensure that the vehicle is able to follow the path. The algorithm was first successfully implemented on a wheeled robot.