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Lateral Control Based on Clothoids Curves for Heavy Category Ground Vehicles

This paper presents a lateral controller developed for autonomous heavy ground vehicles. This controller is responsible for regulating the direction of the steering wheel, and consequently, the frontal tires. It is also presented a brief introduction to works related to autonomous vehicles control, and an approach to obtain the kinematic model for this class of vehicles. The lateral control is designed based on clothoid curves and Fresnel integrals. Practical results are showed to illustrate the effectiveness of the approach proposed.