This video depicts how autonomous vehicles work downstream. A sliding mode controller was implemented onto an off-road vehicle for path tracking. This controller inputted throttle, brake, and steering into the vehicle in order to control velocity and yaw rate. Indirectly, longitudinal and lateral acceleration were limited by adaptive commands. The performance shown of the autonomous vehicle was 1/3 of how fast humans were able to drive on this track. This performance can easily be upgraded with more complex velocity planning algorithms.
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