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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 1 n* c& D+ a7 y
is an important indicator, in order to reduce the training cost and improve the real-time performance while the car is running on
8 F# I- n4 }3 ?1 v. d: bthe road, Offline plus online training is proposed in this paper. Offline plus online training is presented to build a model network
- d) L7 W$ u) X& E8 B' Pof vehicle steering and correct it in real time. Then we adopt a policy iteration adaptive dynamic programming (ADP) to get the3 S& ^) E6 B0 n  s
optimal control law and deploy it to autonomous vehicles. Eventually, the performance of the controller was evaluated using
9 Y, I( D* n$ C) u. `" N+ \6 O# GMatlab simulation. Results verify the feasibility of the theory and show the steering controller is one kind of effective, smooth 1 @3 l6 m+ C" V5 J+ G
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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