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A Novel Steering Control for Real Autonomous Vehicles via PI Adaptive : O4 R* r6 }% o( S. f& [' ^
Dynamic Programming
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' u$ Y! q( D; Z6 G( KA novel steering controller for autonomous vehicles is proposed in this paper. For autonomous vehicles, the efficiency
" s( h' g3 H @7 ~is an important indicator, in order to reduce the training cost and improve the real-time performance while the car is running on 4 B; W8 S( T$ ]' d6 v! V
the road, Offline plus online training is proposed in this paper. Offline plus online training is presented to build a model network
/ s7 Q( ]. b! x8 @- ?& D8 {of vehicle steering and correct it in real time. Then we adopt a policy iteration adaptive dynamic programming (ADP) to get the, ~2 Q# _+ r$ W% b
optimal control law and deploy it to autonomous vehicles. Eventually, the performance of the controller was evaluated using 0 |1 z$ w! l- u2 h$ [* P6 b( o
Matlab simulation. Results verify the feasibility of the theory and show the steering controller is one kind of effective, smooth 4 @" p9 I _: O3 J! ?% {
controller for autonomous vehicles' system. 6 F; n" m, T0 x# ]; r( z& Q
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发表于 2020-11-12 16:35
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