Lateral Controller Design for an Unmanned Vehicle via Kalman Filtering

被引：0

作者：

Lee, Man Hyung ^{[1
]}

Park, Hyung Gyu ^{[1
]}

Lee, Kit Soo ^{[1
]}

Cha, Young Chul ^{[1
]}

Kim, Dong Jin ^{[1
]}

Kim, Byung Il ^{[2
]}

Hong, Sinpyo ^{[3
]}

Chun, Ho Hwan ^{[3
]}

Lee, Bong Jin ^{[4
]}

Lee, Yun Ja ^{[4
]}

机构：

[1] Pusan Natl Univ, Grad Sch Mech Engn, Busan 609735, South Korea

[2] Hyundai Motor Co, Powertrain Ctr, Powertrain CAE Team, Seoul, South Korea

[3] Pusan Natl Univ, Adv Ship Engn Res Ctr, Busan 609735, South Korea

[4] Pusan Natl Univ, Dept Dance, Busan 609735, South Korea

来源：

PROCEEDINGS OF THE SEVENTEENTH INTERNATIONAL SYMPOSIUM ON ARTIFICIAL LIFE AND ROBOTICS (AROB 17TH '12) | 2012年

关键词：

Lateral control; PD controller; Unmanned vehicle; P to P algorithm; Kalman filtering;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper proposes a lateral control system for an unmanned vehicle to improve the responsiveness of the system with a PD control. Heading error can be stabilized and the transient response characteristics can be improved with the controller. In this paper, a mathematical modeling of the vehicle dynamics using two degrees of freedom is used for the controller design. Waypoint tracking method of autonomous navigation was done with the Point to Point algorithm with position and heading measurements from GPS receivers via Kalman filtering. Performance of the designed controller was verified through experiment with a real vehicle.

引用

页码：516 / 519

页数：4

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