An Approximate Dynamic Programming Approach for Path Following Control of an Autonomous Vehicle

被引：0

作者：

Zhao, Kun ^{[1
]}

Wang, Jian ^{[1
]}

Xu, Xin ^{[1
]}

Huang, Zhenhua ^{[1
]}

机构：

[1] Natl Univ Def Technol, Changsha 410073, Hunan, Peoples R China

来源：

2014 11TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA) | 2014年

关键词：

Autonomous Vehicles; Dual Heuristic Programming; Approximate Dynamic Programming; Path Following Control; ARCHITECTURE;

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：

Intelligent control of autonomous vehicles has been an important research topic due to the model uncertainties and complexities of vehicle dynamics. In this paper, we proposed an approximate dynamic programming (ADP) approach for path following control of an autonomous vehicle. The idea is to use the Dual Heuristic Programming (DHP) algorithm, which is an efficient class of ADP methods, to directly control the steer angle of the vehicle's wheels. In order to perform data-driven simulation studies, we established the kinematic model of the vehicle and the model of the steering wheels. Then, the DHP algorithm was designed for path following control by using a Markov decision process model. Simulation results illustrated that the proposed method can achieve good performance for the path following control problem.

引用

页码：1998 / 2004

页数：7

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