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
收藏
页码：137 / 147
页数：10
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