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Coordinated Control for Path Following of Two-Wheel Independently Actuated Autonomous Ground Vehicle
| 题名： | Coordinated Control for Path Following of Two-Wheel Independently Actuated Autonomous Ground Vehicle |
| 正文语种： | 中文 |
| 作者： | Xu Xing Lu Shanfeng Chen Long |
| 作者单位： | of Automotive and Traffic Engineering, Jiangsu University;Automotive Engineering Research Institute, Jiangsu University of Automotive and Traffic Engineering, Jiangsu University |
| 关键词： | autonomous ground vehicle differential steering autonomous front-wheel steering coordinated control path following |
| 摘要： | This paper investigates the path following control problem for the two-wheel independently actuated autonomous ground vehicles through coordinated control of the autonomous front-wheel steering and the differential steering control, to improve the tracking performance. The path following controller based on the model predictive control algorithm designed to track the predefined path. To meet the requirement of adaptive prediction horizon for the model predictive controller, the adaptive preview time control achieved through the fuzzy control. The path following for the differential steering control proposed according to the characteristics of the independently actuated vehicle. The coordinated control is achieved through allocating the output weigh of the wheel steering angle and the in-wheel motors torque. CarSim-Simulink joint simulation results indicated that coordinated control strategy is feasible, can effectively improve the transi- ent performance and flexibility of the vehicle steering and achieve a better tracking performance toward the desired path. |
| 会议日期： | 20171024 |
| 会议举办地点： | 上海 |
| 会议名称： | 第19届亚太汽车工程年会暨2017中国汽车工程学会年会 |
| 出版日期： | 1024-01-20 |
| 母体文献： | 第19届亚太汽车工程年会暨2017中国汽车工程学会年会论文集 |
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