Research on System Design and Control Technology of Vision-Based CyberCar

Author

Ben, Wang Rong ; Hui, Zhang Rong ; Sheng, Jin Li ; Hong, Guo Xiu ; Lie, Guo

Author_Institution

Transp. Coll., Jilin Univ.

fYear

2006

fDate

9-15 Oct. 2006

Firstpage

3325

Lastpage

3330

Abstract

In this paper the vehicle structure, performance parameters and dynamic model of JLUIV5-CyberCar are discussed. An optimal controller is designed to achieve the line path tracking ability, while the curve path tracking ability is guaranteed by a fuzzy controller. To improve the tracking performance of the vehicle steering system in different conditions, controller output collections of JLUIV5-CyberCar are established combined with variable structure control theory. Design the state observer based on Kalman filter theory to estimate the lateral velocity and yaw rate. Simulations and experimental results have confirmed the effectiveness of the proposed method

Keywords

Kalman filters; automobiles; fuzzy control; mobile robots; observers; optimal control; path planning; robot dynamics; robot vision; steering systems; variable structure systems; vehicle dynamics; JLUIV5-CyberCar; Kalman filter theory; fuzzy controller; optimal controller; path tracking; state observer; variable structure control theory; vehicle steering system; vehicle structure; vision-based CyberCar; Automatic control; Charge coupled devices; Communication system control; Control systems; Control theory; Intelligent vehicles; Navigation; Road vehicles; Servomechanisms; Switches;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on

Conference_Location

Beijing

Print_ISBN

1-4244-0258-1

Electronic_ISBN

1-4244-0259-X

Type

conf

DOI

10.1109/IROS.2006.282507

Filename

4058913