Driver-Compatible Steering System for Wide Speed-Range Path Following

Hayakawa, Yasuhiro; White, R. C.; Kimura, Takeshi; Naito, Genpei

doi:10.1109/tmech.2004.834653

Cited by 21 publications

(7 citation statements)

References 2 publications

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“…Since the PID controller has good practical performance, it was widely applied in the path tracking control problem. Hayakawa et al 16 used a PID controller to deal with the wide speed-range path following problem for an intelligent vehicle. Netto et al 17 tried to discuss the performance of the PID controller to deal with the large curvature path by proposing a PID controller based on optimal path detection data.…”

Section: Review Of the Overall Design And Dynamics Control Of The Ugvmentioning

confidence: 99%

A review for design and dynamics control of unmanned ground vehicle

Chen

2020

Proceedings of the Institution of Mechanical Engineers, Part D:

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The unmanned ground vehicle is supposed to replace humans for various applications in both civilian and military area, including transport, delivery, shuttle, clean, patrol, scout, and battle. It has been widely expected that the unmanned ground vehicle will greatly change the human life and the land combat form in the near future. The key techniques of the unmanned ground vehicle are environment perception, motion planning, chassis dynamics control, and cloud control. In this paper, the state of the art of the development of the military and civilian unmanned ground vehicle is introduced, and many classic ones are reviewed in detail in different application categories. The overall design and X-by-wire dynamics control technique of the civilian and military unmanned ground vehicle are reviewed. The X-by-wire technique plays an important role in improving the maneuverability, mobility, and handling performance of the unmanned ground vehicle. Therefore, the chassis dynamics control is considered as a core technique of the X-by-wire unmanned ground vehicle. In addition, as a research trend of the unmanned ground vehicle dynamics control, the cloud-based dynamics control approach of future unmanned ground vehicle based on big data and cloud control techniques is described according to the authors’ work.

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Section: Review Of the Overall Design And Dynamics Control Of The Ugvmentioning

confidence: 99%

A review for design and dynamics control of unmanned ground vehicle

Chen

2020

Proceedings of the Institution of Mechanical Engineers, Part D:

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“…Substituting equations (2) and (3) into equation (6), then the ideal kinematic model of autonomous ground vehicle with respect to the inertia frame can be directly developed as follows…”

Section: Vehicle Kinematic Modelmentioning

confidence: 99%

“…4 A lot of research on the trajectory tracking control has been done in the past two decades. 5 Hayakawa et al 6 proposed a novel path tracking method aiming to maintain steering smoothness from high to low vehicle speed, and the multiple look-ahead points are introduced, which allows to guidance the vehicle with minimum steering corrections. However, this control law has poor robustness to the variations of cornering stiffness.…”

Section: Introductionmentioning

confidence: 99%

Adaptive coordinated collision avoidance control of autonomous ground vehicles

Guo

Luo

2018

Proceedings of the Institution of Mechanical Engineers, Part I:

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This article presents a novel coordinated nonlinear adaptive backstepping collision avoidance control strategy for autonomous ground vehicles with uncertain and unmodeled terms. A nonlinear vehicle collision avoidance vehicle model which describes the coupled lateral and longitudinal dynamic features of autonomous ground vehicles is constructed. Then, a modified artificial potential field approach which can ensure that the total potential field of the target is goal minimum, is proposed to produce a collision-free trajectory for autonomous ground vehicles in real-time. Furthermore, in order to handle with the features of coupled and parameter uncertainties of autonomous ground vehicles, an adaptive neural network-based backstepping trajectory tracking control approach is proposed for collision avoidance control system of autonomous ground vehicles, and the stability of this proposed control system is proven by the Lyapunov theory. Finally, the co-simulation and experimental tests are implemented and the results show that the proposed collision avoidance control strategy has excellent tracking performance.

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“…Stability and robustness were proved in that study. However, studies based on the look-ahead offset [5], [7] show increased path following error on curves. An inherent problem of this kind of "straight" look-ahead feedback which can cause path following error during cornering, as shown in Figure 4, is pointed out in this paper.…”

Section: Introductionmentioning

confidence: 99%

A path following control algorithm for urban driving

Hsieh

Özgüner

2008

2008 IEEE International Conference on Vehicular Electronics and Safety

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A path following algorithm for urban driving is presented in this paper. The algorithm is designed specially to reduce path following errors caused by cornering and unsuitable set speed. We introduce a Circular Look-Ahead (CLA) steering controller which can control a car to precisely follow a path even on a curvy road, and also propose a speed control algorithm integrated with the CLA steering controller to ensure that the vehicle is able to follow the path. The algorithm was first successfully implemented on a wheeled robot.

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Driver-Compatible Steering System for Wide Speed-Range Path Following

Cited by 21 publications

References 2 publications

A review for design and dynamics control of unmanned ground vehicle

A review for design and dynamics control of unmanned ground vehicle

Adaptive coordinated collision avoidance control of autonomous ground vehicles

A path following control algorithm for urban driving

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