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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
0 i6 f* I" G$ g+ |is an important indicator, in order to reduce the training cost and improve the real-time performance while the car is running on
% m! x$ O/ _3 C sthe road, Offline plus online training is proposed in this paper. Offline plus online training is presented to build a model network
: q s. ~" \+ K! q8 Iof vehicle steering and correct it in real time. Then we adopt a policy iteration adaptive dynamic programming (ADP) to get the4 u! h" W: t' C" L
optimal control law and deploy it to autonomous vehicles. Eventually, the performance of the controller was evaluated using
* F. N, S( H; [, P4 pMatlab simulation. Results verify the feasibility of the theory and show the steering controller is one kind of effective, smooth 1 A( x1 E* m4 x
controller for autonomous vehicles' system.
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A Novel Steering Control for Real Autonomous Vehicles via PI Adaptive.pdf
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