DocumentCode
2668177
Title
Longitudinal controller design for autonomous ground vehicle in off-road environment
Author
Daxue, Liu ; Zhenping, Sun ; Hanqing, Zhao ; Zheng, Li ; Hangen, He
Author_Institution
Coll. of Mechatron. Eng. & Autom., Nat. Univ. of Defense Technol., Changsha
fYear
2008
fDate
16-18 July 2008
Firstpage
687
Lastpage
690
Abstract
This paper design a feedforward controller for longitudinal control of autonomous ground vehicle based on the analysis the force of the vehicle in Off-road Environment. To make up the weakness of the feedforward controller, speed error in imported as the feedback signal. A longitudinal controller composed of feedforward controller and feedback controller is designed. The expected speed of the longitudinal controller is generated by multiple restriction of global planning speed.
Keywords
control system synthesis; feedback; feedforward; mobile robots; vehicles; autonomous ground vehicle; feedback signal; feedforward controller; global planning speed; longitudinal controller design; off-road environment; speed error; Automatic control; Force control; Force feedback; Helium; Land vehicles; Life estimation; Mobile robots; Remotely operated vehicles; Road vehicles; Sun; Feedback; Feedforwd; Longitudinal control; Speed plan;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference, 2008. CCC 2008. 27th Chinese
Conference_Location
Kunming
Print_ISBN
978-7-900719-70-6
Electronic_ISBN
978-7-900719-70-6
Type
conf
DOI
10.1109/CHICC.2008.4605630
Filename
4605630
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