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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 2 x, v2 V1 {6 e  R
is an important indicator, in order to reduce the training cost and improve the real-time performance while the car is running on
- k5 D+ r# N+ N7 Tthe road, Offline plus online training is proposed in this paper. Offline plus online training is presented to build a model network ; d' \+ k8 H) @& m. {) H" A6 v) B
of vehicle steering and correct it in real time. Then we adopt a policy iteration adaptive dynamic programming (ADP) to get the
: }9 {" i  L1 j. H4 Qoptimal control law and deploy it to autonomous vehicles. Eventually, the performance of the controller was evaluated using
* u7 J6 z  g: S+ y; |Matlab simulation. Results verify the feasibility of the theory and show the steering controller is one kind of effective, smooth
% |6 H# b, B/ Icontroller for autonomous vehicles' system.
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A Novel Steering Control for Real Autonomous Vehicles via PI Adaptive.pdf

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