{"id":"https://openalex.org/W1597689155","doi":null,"title":"Steering control of an autonomous ground vehicle with application to the DARPA Urban Challenge","display_name":"Steering control of an autonomous ground vehicle with application to the DARPA Urban Challenge","publication_year":2007,"publication_date":"2007-01-01","ids":{"openalex":"https://openalex.org/W1597689155","mag":"1597689155"},"language":"en","primary_location":{"id":"pmh:oai:dspace.mit.edu:1721.1/42301","doi":null,"is_oa":false,"landing_page_url":"http://hdl.handle.net/1721.1/42301","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Thesis"},"volume":null,"type":"dissertation","is_traditional":true,"indexed_in":[],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5004866524","display_name":"Stefan Campbell","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Stefan Campbell","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":["https://openalex.org/A5004866524"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":71,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.98580002784729,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.98580002784729,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.013899999670684338,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.0003000000142492354,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/steering-control","display_name":"steering control","score":0.8679999709129333},{"id":"https://openalex.org/keywords/autonomous-ground-vehicles","display_name":"autonomous ground vehicles","score":0.9160000085830688},{"id":"https://openalex.org/keywords/darpa-urban-challenge","display_name":"DARPA Urban Challenge","score":0.949999988079071},{"id":"https://openalex.org/keywords/vehicle-steering","display_name":"vehicle steering","score":0.4059999883174896},{"id":"https://openalex.org/keywords/autonomous-driving","display_name":"autonomous driving","score":0.7559999823570251}],"concepts":[{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5418404340744019},{"id":"https://openalex.org/C2776548393","wikidata":"https://www.wikidata.org/wiki/Q2031473","display_name":"Unmanned ground vehicle","level":2,"score":0.4491908848285675},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3853963613510132},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3619343340396881},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.3479135036468506},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3381296396255493},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.3271651268005371},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2064117193222046}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:dspace.mit.edu:1721.1/42301","doi":null,"is_oa":false,"landing_page_url":"http://hdl.handle.net/1721.1/42301","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Thesis"},{"id":"mag:1597689155","doi":null,"is_oa":false,"landing_page_url":"http://dspace.mit.edu/bitstream/1721.1/42301/2/232359541-MIT.pdf","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W7036874431","https://openalex.org/W2245692738","https://openalex.org/W6908172049","https://openalex.org/W1500097301","https://openalex.org/W2769534376","https://openalex.org/W2274458255","https://openalex.org/W1600880760","https://openalex.org/W2914735899","https://openalex.org/W2884901579","https://openalex.org/W2199475529"],"abstract_inverted_index":{"Fundamental":[0],"to":[1,56,66,84,96,116,139,144,156,173,194,207,247],"the":[2,12,42,67,70,87,92,97,118,141,158,183,198,216,227,249,260,264,276],"design":[3],"of":[4,14,46,69,110,147,179,185,200,229],"an":[5,103],"Ackerman":[6],"steered":[7,188],"autonomous":[8],"ground":[9,35,53],"vehicle":[10,54,80,189,243],"is":[11,28,39,82,114,127,154,182,197,212,245,253],"development":[13],"a":[15,63,78,107,131,136,145,151,186,204,236,240],"low-level":[16],"controller":[17,75,126,133,218,250,262,267,278],"that":[18,134,219],"effectively":[19],"performs":[20],"trajectory":[21,165],"or":[22],"path":[23,88,112],"tracking.":[24],"Though":[25],"ample":[26],"literature":[27],"available":[29],"on":[30,41],"various":[31],"methods":[32],"for":[33,280],"controlling":[34],"vehicles,":[36],"little":[37],"information":[38],"presented":[40,169],"implementation":[43,68],"and":[44,263],"tuning":[45],"such":[47],"controllers.":[48],"Moreover,":[49],"few":[50],"sources":[51],"extend":[52],"control":[55,166,184],"driving":[57,190,281],"in":[58,76,191,282],"reverse.":[59,192,283],"This":[60,123],"work":[61,181,196],"presents":[62],"novel":[64],"approach":[65],"traditional":[71],"\"pure":[72],"pursuit\"":[73],"style":[74],"which":[77],"dynamic":[79],"model":[81,109,138,244],"used":[83,115,155,246],"map":[85],"from":[86],"curvature":[89],"specified":[90],"by":[91,222],"pure":[93,119,124,201,265],"pursuit":[94,120,125,202,211,266],"algorithm":[95],"vehicle's":[98,142],"actual":[99],"steering":[100,149],"angle.":[101],"Additionally,":[102],"analytical":[104],"methodology":[105],"using":[106],"linear":[108,241],"straight-line":[111],"following":[113],"tune":[117,248],"look-ahead":[121],"distance.":[122],"then":[128,213,254,273],"contrasted":[129,214],"with":[130,215,275],"simulation-based":[132,277],"uses":[135],"kinematic":[137,242],"predict":[140],"response":[143],"series":[146],"different":[148],"inputs;":[150],"performance":[152],"metric":[153],"select":[157],"best":[159],"command":[160],"given":[161],"these":[162],"predictions.":[163],"Successful":[164],"results":[167],"are":[168,268,272],"at":[170,226],"speeds":[171],"up":[172],"22":[174],"mph.":[175],"The":[176],"second":[177],"focus":[178],"this":[180,195,208,234],"front-wheel":[187],"Novel":[193],"presentation":[199],"as":[203],"stable":[205],"solution":[206],"problem.":[209],"Pure":[210],"mechanism-based":[217,261],"was":[220],"developed":[221],"Patwardhan":[223],"et":[224],"al.":[225],"University":[228],"California":[230],"Berkeley.":[231],"In":[232],"presenting":[233],"controller,":[235],"new":[237],"method":[238],"employing":[239],"parameters.":[251],"It":[252],"shown":[255],"that,":[256],"under":[257],"specific":[258],"conditions,":[259],"identical.":[269],"Both":[270],"controllers":[271],"compared":[274],"adapted":[279]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":8},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-11-10T11:39:43.021295","created_date":"2016-06-24T00:00:00"}