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标题: A Novel Steering Control for Real Autonomous Vehicles via PI Adaptive Dynami... [打印本页]
作者: 杨利霞 时间: 2020-11-10 15:34
标题: A Novel Steering Control for Real Autonomous Vehicles via PI Adaptive Dynami...
A Novel Steering Control for Real Autonomous Vehicles via PI Adaptive
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Dynamic Programming
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A novel steering controller for autonomous vehicles is proposed in this paper. For autonomous vehicles, the efficiency % A- c7 R, {% u
is an important indicator, in order to reduce the training cost and improve the real-time performance while the car is running on 4 K# m; U5 N- Z8 D
the road, Offline plus online training is proposed in this paper. Offline plus online training is presented to build a model network
/ X4 i# \: o$ i) K5 U6 Bof vehicle steering and correct it in real time. Then we adopt a policy iteration adaptive dynamic programming (ADP) to get the, a. x6 D T( T! J) M
optimal control law and deploy it to autonomous vehicles. Eventually, the performance of the controller was evaluated using ; k M+ u4 e! R1 A
Matlab simulation. Results verify the feasibility of the theory and show the steering controller is one kind of effective, smooth - R' Z$ A- w3 r: f0 z: r
controller for autonomous vehicles' system. + z& R( s" E7 t
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A Novel Steering Control for Real Autonomous Vehicles via PI Adaptive.pdf
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