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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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A novel steering controller for autonomous vehicles is proposed in this paper. For autonomous vehicles, the efficiency ) V% J; N' \/ b2 S2 d F2 s7 T
is an important indicator, in order to reduce the training cost and improve the real-time performance while the car is running on
3 @/ H) [' y3 `. _/ a0 h- S' o4 Othe road, Offline plus online training is proposed in this paper. Offline plus online training is presented to build a model network 7 J o- r* r3 ?, o9 p
of vehicle steering and correct it in real time. Then we adopt a policy iteration adaptive dynamic programming (ADP) to get the! `" D, l/ x, ]+ Y* l5 k
optimal control law and deploy it to autonomous vehicles. Eventually, the performance of the controller was evaluated using : I& C2 g" A6 l, ?& c
Matlab simulation. Results verify the feasibility of the theory and show the steering controller is one kind of effective, smooth * T% _3 b$ {& J1 W
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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