Control of an autonomous vehicle: design and first practical results

Author

Söhnitz, Ina ; Schwarze, Klaus

Author_Institution

Inst. of Control Eng., Tech. Univ. Braunschweig, Germany

fYear

1999

fDate

6/21/1905 12:00:00 AM

Firstpage

448

Lastpage

452

Abstract

The lateral and the longitudinal dynamics of a vehicle are usually controlled separately. The paper deals mainly with the control concept and presents first practical results of the lateral module of an autonomous road vehicle, which is driven by a robot. The design of a robust H₂-controller based on standard H₂/H_∞-algorithms is described. An additional curvature compensation function is introduced to minimize the lateral deviation caused by the bending of the desired path. The resulting feedforward control structure simplifies the task of the controller significantly. Additionally, the longitudinal control module implemented in the robot is presented briefly

Keywords

H^∞ control; closed loop systems; compensation; control system synthesis; feedforward; path planning; position control; road vehicles; robots; robust control; velocity control; autonomous road vehicle; curvature compensation function; feedforward control structure; lateral deviation; lateral dynamic; longitudinal dynamics; robust H₂-controller; standard H₂/H_∞-algorithms; Automatic control; Automatic testing; Hydrogen; Mobile robots; Position measurement; Remotely operated vehicles; Road vehicles; Robotics and automation; Vehicle dynamics; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Transportation Systems, 1999. Proceedings. 1999 IEEE/IEEJ/JSAI International Conference on

Conference_Location

Tokyo

Print_ISBN

0-7803-4975-X

Type

conf

DOI

10.1109/ITSC.1999.821099

Filename

821099