Development of a Backstepping Control-Based Path Tracking Algorithm for Autonomous Mobility with Control Delay Compensation

In order to ensure control performance of actual system, it is necessary to consider a control delay in actual control platform. This paper describes a backstepping steering control algorithm to compensate the control delay in autonomous mobility for path tracking. Two particle filters were designed to track target RGB from reference path and path errors were derived using two clustered points of particles. In the proposed path tracking algorithm, the backstepping controller was designed to calculate desired steering angle using path errors considering the control delay in steering system with Lyapunov stability condition and the control delay was derived from actual platform test. To verify the proposed control algorithm, performance evaluation was conducted under S-curved path tracking scenario with actual autonomous mobility platform and the results were analyzed by comparing with the case of Proportional-Integral(PI) controller. The results of the performance evaluation show that the proposed algorithm has reasonable path tracking performance by compensating the control delay in steering system.