Data fusion and path-following controllers comparison for autonomous vehicles

被引：0
|
作者：
Urbano Nunes
L. Conde Bento
机构：
[1] Universidade de Coimbra,Instituto de Sistemas e Robotica & Dep. Eng. Electrotecnica e de Computadores
[2] Instituto Politecnico de Leiria,Instituto de Sistemas e Robotica & Dep. Eng. Electrotecnica
来源：
Nonlinear Dynamics | 2007年 / 49卷
关键词：
Data fusion; Path-following; Intelligent vehicles; Fuzzy logic controller; Chained form systems; Magnetic guidance;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
This paper presents a comparative study of two path-following controllers developed for guiding autonomous vehicles in semi-structured outdoor environments. Part of this paper is focused on the performance of two path-following controllers, which are implemented using two different approaches, the first using fuzzy logic and the second using chained systems theory. The control effort and the errors magnitude along the path are evaluated in a comparative way. A magnetic guidance system for autonomous vehicles navigation in semi-structured outdoor environments is also described, integrating redundant encoders data and absolute positioning data provided by on-board magnetic sensors and magnetic markers buried in the road. Simulation and experimental results are presented showing the effectiveness of the overall control system.
引用
收藏
页码：445 / 462
页数：17
相关论文
共 50 条
  • [21] Coordinated path-following control of multiple underactuated autonomous vehicles in the presence of communication failures
    Ghabcheloo, Reza
    Aguiar, A. Pedro
    Pascoal, Antonio
    Silvestre, Carlos
    Kaminer, Isaac
    Hespanha, Joao
    PROCEEDINGS OF THE 45TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-14, 2006, : 4346 - +
  • [22] Coordinated torque vectoring control and path-following of autonomous vehicles with sideslip angle estimation
    Zhang, Lin
    Pan, Wei
    Li, Qin
    Sun, Haobo
    Li, Bin
    Wang, Nian
    INTERNATIONAL JOURNAL OF VEHICLE DESIGN, 2020, 83 (2-4) : 172 - 194
  • [23] Robust Path-Following Control for Multiple Autonomous Vehicles Along an Implicit Elliptical Curve
    Shao, Xingling
    Zhang, Jintao
    Zhang, Wendong
    Zuo, Zongyu
    IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS, 2023, 53 (11): : 6778 - 6791
  • [24] Radio-Frequency Guidance System for Path-Following Industrial Autonomous Guided Vehicles
    Elgeziry, Mahmoud
    Costa, Filippo
    Genovesi, Simone
    2022 16TH EUROPEAN CONFERENCE ON ANTENNAS AND PROPAGATION (EUCAP), 2022,
  • [25] Robust Switched Velocity-Dependent Path-Following Control for Autonomous Ground Vehicles
    Li, Panshuo
    Lam, James
    Lu, Renquan
    IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS, 2023, 24 (05) : 4815 - 4826
  • [26] Robust guaranteed-cost path-following control for autonomous vehicles on unstructured roads
    Guo, Jinghua
    Wang, Jin
    Hu, Ping
    Li, Linhui
    PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING, 2018, 232 (07) : 896 - 908
  • [27] Path-Following Control with Obstacle Avoidance of Autonomous Surface Vehicles Subject to Actuator Faults
    Hao, Li-Ying
    Dong, Gege
    Li, Tieshan
    Peng, Zhouhua
    IEEE-CAA JOURNAL OF AUTOMATICA SINICA, 2024, 11 (04) : 956 - 964
  • [28] Path-following control of autonomous ground vehicles based on input convex neural networks
    Jiang, Kai
    Hu, Chuan
    Yan, Fengjun
    PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING, 2022, 236 (13) : 2806 - 2816
  • [29] Path-Following Control With Obstacle Avoidance of Autonomous Surface Vehicles Subject to Actuator Faults
    Li-Ying Hao
    Gege Dong
    Tieshan Li
    Zhouhua Peng
    IEEE/CAA Journal of Automatica Sinica, 2024, 11 (04) : 956 - 964
  • [30] Trajectory-tracking and path-following of underactuated autonomous vehicles with parametric modeling uncertainty
    Aguiar, A. Pedro
    Hespanha, Joao P.
    IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2007, 52 (08) : 1362 - 1379
12345