Study on Robust Lateral Controller for Differential GPS-Based Autonomous Vehicles
| Autor: | Kyoung Kwan Ahn, Hyung Gyu Park, Myeong-Kwan Park, Seok-Hee Lee |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
business.industry Computer science Mechanical Engineering Path tracking Linear model PID controller 02 engineering and technology 021001 nanoscience & nanotechnology Industrial and Manufacturing Engineering Modeling and simulation 020901 industrial engineering & automation Control theory Robustness (computer science) In vehicle Global Positioning System Electrical and Electronic Engineering 0210 nano-technology business Differential GPS |
| Zdroj: | International Journal of Precision Engineering and Manufacturing. 19:367-376 |
| ISSN: | 2005-4602 2234-7593 |
| DOI: | 10.1007/s12541-018-0044-9 |
| Popis: | Recently, technological advancements in autonomous vehicle development have continued to accelerate. In this paper, we propose a lateral controller and navigation algorithm for autonomous vehicles based on the Differential Global Positioning System (DGPS), core technology of autonomous vehicles. In this study, an H-infinity (H∞) controller was designed lateral controller to ensure nominal safety and robustness against noise, external disturbances and structural and non-structural errors in vehicle modeling. Meanwhile, the “pure pursuit” approach which geometrically follows a path was employed as a path-tracking technique for the proposed navigation algorithm. A vehicle modeling simulation was conducted to evaluate the performance of the proposed method using a twodegrees- of-freedom linear model. The lateral H∞ controller and navigation algorithm were applied to an actual vehicle, Their performances were evaluated by comparing the path tracking error at various speeds of autonomous vehicles with that of the proportional-integral-derivative (PID) controller. |
| Databáze: | OpenAIRE |
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