{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,26]],"date-time":"2026-02-26T13:55:04Z","timestamp":1772114104246,"version":"3.50.1"},"reference-count":64,"publisher":"MDPI AG","issue":"14","license":[{"start":{"date-parts":[[2020,7,21]],"date-time":"2020-07-21T00:00:00Z","timestamp":1595289600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100004837","name":"Ministerio de Ciencia e Innovaci\u00f3n","doi-asserted-by":"publisher","award":["RTI2018-099263-B-C21"],"award-info":[{"award-number":["RTI2018-099263-B-C21"]}],"id":[{"id":"10.13039\/501100004837","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100010774","name":"Consejer\u00eda de Educaci\u00f3n e Investigaci\u00f3n","doi-asserted-by":"publisher","award":["P2018\/NMT- 4331"],"award-info":[{"award-number":["P2018\/NMT- 4331"]}],"id":[{"id":"10.13039\/501100010774","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Automated Driving Systems (ADSs) require robust and scalable control systems in order to achieve a safe, efficient and comfortable driving experience. Most global planners for autonomous vehicles provide as output a sequence of waypoints to be followed. This paper proposes a modular and scalable waypoint tracking controller for Robot Operating System (ROS)-based autonomous guided vehicles. The proposed controller performs a smooth interpolation of the waypoints and uses optimal control techniques to ensure robust trajectory tracking even at high speeds in urban environments (up to 50 km\/h). The delays in the localization system and actuators are compensated in the control loop to stabilize the system. Forward velocity is adapted to path characteristics using a velocity profiler. The controller has been implemented as an ROS package providing scalability and exportability to the system in order to be used with a wide variety of simulators and real vehicles. We show the results of this controller using the novel and hyper realistic CARLA Simulator and carrying out a comparison with other standard and state-of-art trajectory tracking controllers.<\/jats:p>","DOI":"10.3390\/s20144062","type":"journal-article","created":{"date-parts":[[2020,7,22]],"date-time":"2020-07-22T03:23:16Z","timestamp":1595388196000},"page":"4062","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":29,"title":["A Waypoint Tracking Controller for Autonomous Road Vehicles Using ROS Framework"],"prefix":"10.3390","volume":"20","author":[{"given":"Rodrigo","family":"Guti\u00e9rrez","sequence":"first","affiliation":[{"name":"Electronics Department, University of Alcal\u00e1, Campus Universitario, 28805 Alcal\u00e1 de Henares, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8145-9045","authenticated-orcid":false,"given":"Elena","family":"L\u00f3pez-Guill\u00e9n","sequence":"additional","affiliation":[{"name":"Electronics Department, University of Alcal\u00e1, Campus Universitario, 28805 Alcal\u00e1 de Henares, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0087-3077","authenticated-orcid":false,"given":"Luis M.","family":"Bergasa","sequence":"additional","affiliation":[{"name":"Electronics Department, University of Alcal\u00e1, Campus Universitario, 28805 Alcal\u00e1 de Henares, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4179-6100","authenticated-orcid":false,"given":"Rafael","family":"Barea","sequence":"additional","affiliation":[{"name":"Electronics Department, University of Alcal\u00e1, Campus Universitario, 28805 Alcal\u00e1 de Henares, Spain"}]},{"given":"\u00d3scar","family":"P\u00e9rez","sequence":"additional","affiliation":[{"name":"Electronics Department, University of Alcal\u00e1, Campus Universitario, 28805 Alcal\u00e1 de Henares, Spain"}]},{"given":"Carlos","family":"G\u00f3mez-Hu\u00e9lamo","sequence":"additional","affiliation":[{"name":"Electronics Department, University of Alcal\u00e1, Campus Universitario, 28805 Alcal\u00e1 de Henares, Spain"}]},{"given":"Felipe","family":"Arango","sequence":"additional","affiliation":[{"name":"Electronics Department, University of Alcal\u00e1, Campus Universitario, 28805 Alcal\u00e1 de Henares, Spain"}]},{"given":"Javier","family":"del Egido","sequence":"additional","affiliation":[{"name":"Electronics Department, University of Alcal\u00e1, Campus Universitario, 28805 Alcal\u00e1 de Henares, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9151-4346","authenticated-orcid":false,"given":"Joaqu\u00edn","family":"L\u00f3pez-Fern\u00e1ndez","sequence":"additional","affiliation":[{"name":"Systems Engineering and Automation Department, University of Vigo, 36310 Vigo, Spain"}]}],"member":"1968","published-online":{"date-parts":[[2020,7,21]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Barea, R., Bergasa, L.M., Romera, E., L\u00f3pez-Guill\u00e9n, E., P\u00e9rez, O., Tradacete, M., and L\u00f3pez, J. 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