@inproceedings{c409be32eb1d405e9a0f8e4a828ceeff,
title = "An improved pure pursuit algorithm for four-wheel-steering autonomous driving vehicle",
abstract = "An improved pure pursuit path tracking algorithm is presented for a four-wheel steering (4WS) carrier vehicle to follow a desired path automatically. A bicycle vehicle model considering the 4WS carrier vehicle's structural and steering features is applied in the method. Real vehicle tests in an open large outdoor warehouse showed that the lateral tracking error was less than 0.56m at 20km/h. And we can conclude that the enhanced method for 4WS vehicle has good tracking ability on flat road.",
keywords = "Autonomous driving vehicle, Four-wheel-steering, Path tracking, Pure pursuit",
author = "Quan, {Miao Miao} and Yong Zhai and Yan Jiang and Sun, {Yin Jian} and Xu, {Da Lu} and Gong, {Jian Wei}",
year = "2014",
doi = "10.4028/www.scientific.net/AMM.511-512.958",
language = "English",
isbn = "9783038350170",
series = "Applied Mechanics and Materials",
pages = "958--962",
booktitle = "Sensors, Mechatronics and Automation",
note = "2013 International Conference on Sensors, Mechatronics and Automation, ICSMA 2013 ; Conference date: 24-12-2013 Through 25-12-2013",
}