A 3D path-following velocity-tracking controller for autonomous vehicles
A 3D path-following velocity-tracking controller for autonomous vehicles
- Neue Suche nach: Cuncha, Rita
- Neue Suche nach: Silvestre, Carlos
- Neue Suche nach: Cuncha, Rita
- Neue Suche nach: Silvestre, Carlos
The path-following problem is addressed with steering an atonomous vehicle along a desired path, while tracking a predefined velocity profile. The presented solution relies on the definition of a path-dependent error space to express the dynamic model of the vehicle, which is specially suited for a D-methodology controller implementation. The error space exhibits a high-degree of directionality accuracy in the definition of velocity references. The proposed strategy guarantees asymptotic stability of the closed-loop system about trimming paths, and has the particular feature of eliminating the need to feedforward trimming values for both actuation and vehicle orientation. The effectiveness of the technique is assessed in simulation with the full nonlinear model of a model-scale helicopter.
Dokumentinformationen
A 3D path-following velocity-tracking controller for autonomous vehicles
Ein die Geschwindigkeit und die dreidimensionale Bahn verfolgender Regler für autonome Fahrzeuge
2005
6 Seiten, 5 Bilder, 11 Quellen
Aufsatz (Konferenz)
Englisch
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