Lateral Control of Unmanned Vehicle Using PD Controller

被引：0

作者：

Cha, Young Chul ^{[1
]}

Bae, Jong Il ^{[2
]}

Lee, Kil Soo ^{[1
]}

Lee, Dong Seok ^{[1
]}

Lee, Yun Ja ^{[3
]}

Lee, Man Hyung ^{[1
]}

机构：

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

[2] Pukyong Natl Univ, Dept Elect Engn, Busan 608739, South Korea

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

来源：

PROCEEDINGS OF THE SIXTEENTH INTERNATIONAL SYMPOSIUM ON ARTIFICIAL LIFE AND ROBOTICS (AROB 16TH '11) | 2011年

关键词：

Lateral control; PD Controller; Unmanned Vehicle; P to P algorithm;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

In order to control an unmanned vehicle, steering, acceleration, braking etc.., an actuator control is required. This paper proposes a lateral control system for an unmanned vehicle to improve the responsiveness of the system with a PD control. If a PD controller is used in the system, angle errors from autonomous navigation can be stabilized and the system will improve the transient response characteristics. Generally, when calculating a mathematical model of a vehicle, 4m/s(2) the lateral acceleration in less as two degrees of freedom bicycle model also shows better performance. In this paper, a mathematical modeling of a vehicle using two degrees of freedom model was calculated with a controller designed by Matlab, and autonomous navigation simulations were carried out. Path estimation method of autonomous navigation was done with the Point to Point algorithm, current position of vehicle gained with GPS. Performance of the designed controller was verified through autonomous navigation with a real vehicle.

引用

页码：671 / 674

页数：4

共 6 条

[1] Lee K. S., 2009, CONTROL UNMANNED CON
[2] LEE YH, 1994, KOREAN SOC AUTOMOTIV, V2, P101
[3] Moon H. C., 2001, KOREAN SOC AUTOMOTIV, V2, P1316
[4] Oh Y. R., 2007, KOREAN SOC AUTOMOTIV, V2, P884
[5] Um J. Y., 2004, KOREAN SOC AUTOMOTIV, V3, P1179
[6] 최종환, 2006, [Journal of the Korean Society of Manufacturing Process Engineers, 한국기계가공학회지], V5, P71

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