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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: 2020-11-12 16:35
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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3 {8 i8 | K2 {A novel steering controller for autonomous vehicles is proposed in this paper. For autonomous vehicles, the efficiency # ~% _; Z. a8 b
is an important indicator, in order to reduce the training cost and improve the real-time performance while the car is running on 3 u5 G8 U2 i$ [
the road, Offline plus online training is proposed in this paper. Offline plus online training is presented to build a model network + u- ~$ b, ?& C8 t! z0 N% C, @
of vehicle steering and correct it in real time. Then we adopt a policy iteration adaptive dynamic programming (ADP) to get the& Q% V9 ?9 u, W0 P9 D$ s4 J4 |
optimal control law and deploy it to autonomous vehicles. Eventually, the performance of the controller was evaluated using
) u0 c0 ]5 X$ I F/ uMatlab simulation. Results verify the feasibility of the theory and show the steering controller is one kind of effective, smooth
. B( g. O. T1 S; H7 A9 b/ N+ [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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