{"title":"带滑移的自动驾驶汽车跟踪控制","authors":"Howard Li, M. Trentini","doi":"10.1109/AIS.2010.5547029","DOIUrl":null,"url":null,"abstract":"To achieve desired performance during high speed driving, we cannot neglect slippage. The kinematics and the dynamics of a system should all be considered. Path tracking is one of the most important issues in wheel based vehicles. In this study, we will discuss the dynamic model of an Ackerman steered vehicle. The model is obtained according to Newton's laws, considering that the vehicle is moving on a plane surface. Fuzzy control laws are designed for the nonlinear system. Finally, the proposed fuzzy controller is tested on the Ackerman steered vehicle and the results show that the proposed fuzzy controller can achieve the desired turning angle and the autonomous vehicle tracks the trajectory satisfactorily.","PeriodicalId":71187,"journal":{"name":"自主智能系统(英文)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2010-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Tracking control of autonomous vehicles with slippage\",\"authors\":\"Howard Li, M. Trentini\",\"doi\":\"10.1109/AIS.2010.5547029\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"To achieve desired performance during high speed driving, we cannot neglect slippage. The kinematics and the dynamics of a system should all be considered. Path tracking is one of the most important issues in wheel based vehicles. In this study, we will discuss the dynamic model of an Ackerman steered vehicle. The model is obtained according to Newton's laws, considering that the vehicle is moving on a plane surface. Fuzzy control laws are designed for the nonlinear system. Finally, the proposed fuzzy controller is tested on the Ackerman steered vehicle and the results show that the proposed fuzzy controller can achieve the desired turning angle and the autonomous vehicle tracks the trajectory satisfactorily.\",\"PeriodicalId\":71187,\"journal\":{\"name\":\"自主智能系统(英文)\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2010-06-21\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"自主智能系统(英文)\",\"FirstCategoryId\":\"1093\",\"ListUrlMain\":\"https://doi.org/10.1109/AIS.2010.5547029\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"自主智能系统(英文)","FirstCategoryId":"1093","ListUrlMain":"https://doi.org/10.1109/AIS.2010.5547029","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Tracking control of autonomous vehicles with slippage
To achieve desired performance during high speed driving, we cannot neglect slippage. The kinematics and the dynamics of a system should all be considered. Path tracking is one of the most important issues in wheel based vehicles. In this study, we will discuss the dynamic model of an Ackerman steered vehicle. The model is obtained according to Newton's laws, considering that the vehicle is moving on a plane surface. Fuzzy control laws are designed for the nonlinear system. Finally, the proposed fuzzy controller is tested on the Ackerman steered vehicle and the results show that the proposed fuzzy controller can achieve the desired turning angle and the autonomous vehicle tracks the trajectory satisfactorily.
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