Path-Following Control Based on Ground-Watching Navigation

被引：9

作者：

Miao, Qiheng ^{[1
]}

Cebon, David ^{[1
]}

机构：

[1] Univ Cambridge, Dept Engn, Cambridge CB2 1PZ, England

来源：

IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS | 2018年 / 19卷 / 08期

基金：

英国工程与自然科学研究理事会;

关键词：

Path following; active steering; articulated vehicles; ground-watching navigation;

D O I：

10.1109/TITS.2017.2761772

中图分类号：

TU [建筑科学];

学科分类号：

0813 ;

摘要：

This paper discusses the path-following performance of actively-steered articulated vehicles based on measurement signals from two "ground-watching" navigation systems (GWNSs). The GWNSs are described. These uses highspeed USB-3 cameras and an image processing computer to measure and calculate off-tracking distance for a path-following steering controller. Full-scale field tests are performed using an experimental articulated vehicle, tested under both open-loop and closed-loop conditions. Off-tracking distance at the rear camera with respect to the front camera is controlled to be less than 0.1 m for tests with both GWNSs.

引用

页码：2592 / 2602

页数：11