Paper Info
Title
Tracking control of autonomous vehicles with slippage
Abstract
To achieve desired performance during high speed driving, we cannot neglect slippage. The kinematics and the dynamics of a system should all be considered. Path tracking is one of the most important issues in wheel based vehicles. In this study, we will discuss the dynamic model of an Ackerman steered vehicle. The model is obtained according to Newton's laws, considering that the vehicle is moving on a plane surface. Fuzzy control laws are designed for the nonlinear system. Finally, the proposed fuzzy controller is tested on the Ackerman steered vehicle and the results show that the proposed fuzzy controller can achieve the desired turning angle and the autonomous vehicle tracks the trajectory satisfactorily.
Year
DOI
Venue
2010
10.1109/AIS.2010.5547029
Autonomous and Intelligent Systems
Keywords
Field
DocType
fuzzy control,mobile robots,nonlinear control systems,path planning,road vehicles,robot kinematics,tracking,vehicle dynamics,wheels,Ackerman steered vehicle,Newton laws,autonomous vehicles,fuzzy control laws,high speed driving,nonlinear system,path tracking,slippage,system dynamics,system kinematics,tracking control,wheel based vehicles,fuzzy logic,intelligent vehicles,tracking
Motion planning,Data mining,Control theory,Kinematics,Computer science,Simulation,Control theory,Fuzzy logic,Robot kinematics,Vehicle dynamics,Fuzzy control system,Trajectory
Conference
ISBN
Citations 
PageRank 
978-1-4244-7104-1
0
0.34
References 
Authors
6
2
Name
Order
Citations
PageRank
Howard Li115921.22
Michael Trentini2989.94