Vision-based vehicle trajectory following with constant time delay

被引：0

作者：

Goi H.K. ^{[1
]}

Barfoot T.D. ^{[2
]}

Francis B.A. ^{[1
]}

Giesbrecht J.L. ^{[3
]}

机构：

[1] Department of Electrical and Computer Engineering, University of Toronto, Toronto, ON

[2] University of Toronto Institute for Aerospace Studies, Toronto, ON

[3] Defence Research and Development Canada-Suffield Medicine Hat, AB

来源：

Springer Tracts in Advanced Robotics | 2010年 / 62卷

关键词：

Military vehicles - Time delay - Global positioning system - Timing circuits;

D O I：

10.1007/978-3-642-13408-1_13

中图分类号：

学科分类号：

摘要：

A convoy problem is formulated and solved for two four-wheeled vehicles. The task is for the second vehicle to follow the leader’s trajectory with a constant time delay. This delayed trajectory can be viewed as the trajectory of a delayed leader. This novel constant-time-delay concept allows for the estimation of the delayed leader’s speed and heading using the vehicle kinematics. Decoupled longitudinal and lateral controllers are developed based on the constant-time-delay approach. The lateral controller includes a look-ahead feature to compensate for steering delays. Successful field trials were conducted with full-sized military vehicles on a 1.3-kilometre test track. The tracking errors from differential global positioning system (DGPS) ground truth covering 13 kilometres are presented. © Springer-Verlag Berlin Heidelberg 2010.

引用

页码：137 / 147

页数：10

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