Tracking Control and Obstacle Avoidance for a car Like Vehicle

Abstract: Future cities will be even more crowded than citiesof today, implying that new technological advancements need tobe integrate into the cities infrastructure to handle the growingpopulation. Smart cities aim to increase productivity in citiesby using autonomous vehicles for task previously performedby human operated vehicles. In this paper three differenttracking controllers are suggested along with, obstacle avoidancecontrollers for an autonomous vehicle modeled as a car likevehicle. The paper also includes a description of the necessarysensors needed to perform feedback control of the vehicle ina real environment with obstacles present. Simulation resultsshow that the controllers suggested could be used to performtracking control and obstacle avoidance for an AutonomousGround Vehicle (AGV). The results provides a basis for futureimplementation of AGVs that could be used in smart cities.