LATERAL CONTROLLER DESIGN FOR AN UNMANNED VEHICLE VIA KALMAN FILTERING

被引：13

作者：

Lee, M. H. ^{[1
]}

Lee, K. S. ^{[1
]}

Park, H. G. ^{[1
]}

Cha, Y. C. ^{[1
]}

Kim, D. J. ^{[1
]}

Kim, B. ^{[2
]}

Hong, S. ^{[3
]}

Chun, H. H. ^{[4
]}

机构：

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

[2] Hyundai Motor Co, Powertrain Ctr, Powertrain CAE Team, Hwaseong Si 445706, Gyeonggi, South Korea

[3] Pusan Natl Univ, Global Core Res Ctr Ships & Offshore Plants, Pusan 609735, South Korea

[4] Pusan Natl Univ, Dept Naval Architecture & Ocean Engn, Pusan 609735, South Korea

来源：

INTERNATIONAL JOURNAL OF AUTOMOTIVE TECHNOLOGY | 2012年 / 13卷 / 05期

基金：

新加坡国家研究基金会;

关键词：

Lateral control; PD controller; Unmannec vehicle; P to P algorithm; Kalman filtering; SYSTEM; OBSERVABILITY;

D O I：

10.1007/s12239-012-0080-x

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This paper proposes a lateral control system for an unmanned vehicle that is designed to improve the responsiveness of the system with the use of a PD control. The vehicle heading error can be stabilized, and the transient response characteristics can be improved using the proposed controller. A mathematical model of the vehicle dynamics using two degrees of freedom was developed for the controller design. The waypoint tracking method for autonomous navigation was tested with incorporation of the Point-to-Point algorithm with position and heading measurements received from GPS receivers via Kalman filtering. The performance of the designed controller was verified through experiments with a real vehicle.

引用

页码：801 / 807

页数：7

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