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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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7 g! o& [5 F) O* eA novel steering controller for autonomous vehicles is proposed in this paper. For autonomous vehicles, the efficiency
9 ] L* q7 ^5 g1 p% W3 h9 U- V; a& {is an important indicator, in order to reduce the training cost and improve the real-time performance while the car is running on C& \/ p4 v: p. v. G% D
the road, Offline plus online training is proposed in this paper. Offline plus online training is presented to build a model network
3 U, \6 r4 H6 g) Cof vehicle steering and correct it in real time. Then we adopt a policy iteration adaptive dynamic programming (ADP) to get the
( t3 h3 t8 z/ T2 S% z: {optimal control law and deploy it to autonomous vehicles. Eventually, the performance of the controller was evaluated using
5 a& m+ y3 X: z/ R# B9 s% f5 VMatlab simulation. Results verify the feasibility of the theory and show the steering controller is one kind of effective, smooth 5 s- j4 H) _2 R% s
controller for autonomous vehicles' system. 6 {. E0 Y8 u6 ~1 N; H ?
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A Novel Steering Control for Real Autonomous Vehicles via PI Adaptive.pdf
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