DocumentCode :
681651
Title :
A path tracking control algorithm with speed adjustment for intelligent vehicle
Author :
Jianmin Duan ; Junqin Yao ; Dan Liu ; Guanyu Liu
Author_Institution :
Group of Meas.-control Syst. & Equip., Beijing Univ. of Technol., Beijing, China
fYear :
2013
fDate :
12-14 Dec. 2013
Firstpage :
2397
Lastpage :
2402
Abstract :
An effective path tracking control algorithm with speed adjustment is proposed. Traditional algorithms only use kinematic characteristics and take no consideration of dynamic restrains. Besides, most of the earlier studies on steering control assume that the longitudinal speed is constant, which is not reasonable. In this paper, we use an improved CLA with a PID controller for tight path tracking, and suggest a feed-forward control method to eliminate the heading errors caused by dynamic conditions while tracking a desired path. Furthermore, the vehicle speed control strategy according to future path information is also proposed. Finally, the proposed algorithm is implemented on the intelligent vehicle BJUT-IV, experimental results show that the proposed algorithm achieves an accurate and effective path tracking, and improves in robustness and stability to dynamic effects.
Keywords :
feedforward; path planning; road vehicles; robust control; steering systems; three-term control; velocity control; BJUT-IV intelligent vehicle; CLA algorithm; PID controller; circle look-ahead algorithm; dynamic conditions; dynamic restraints; feedforward control method; future path information; heading errors elimination; kinematic characteristics; longitudinal speed; path tracking control algorithm; proportional-integral-derivative controller; robustness; speed adjustment; stability; steering control; vehicle speed control strategy; Heuristic algorithms; Intelligent vehicles; Mathematical model; Vehicle dynamics; Vehicles; Velocity control; Wheels;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2013 IEEE International Conference on
Conference_Location :
Shenzhen
Type :
conf
DOI :
10.1109/ROBIO.2013.6739829
Filename :
6739829
Link To Document :
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