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[课件资源] A Novel Steering Control for Real Autonomous Vehicles via PI Adaptive Dynami...

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    2021-8-11 17:59
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    发表于 2020-11-12 16:35 |只看该作者 |倒序浏览
    |招呼Ta 关注Ta
    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 ) Q% j* a8 ]# O9 s9 M
    is an important indicator, in order to reduce the training cost and improve the real-time performance while the car is running on
    3 U9 s- Z* @( J$ |/ i; Z( b! @; `the road, Offline plus online training is proposed in this paper. Offline plus online training is presented to build a model network ; l$ o/ v# S8 _7 e
    of vehicle steering and correct it in real time. Then we adopt a policy iteration adaptive dynamic programming (ADP) to get the
    ! P+ m5 {; C/ Joptimal control law and deploy it to autonomous vehicles. Eventually, the performance of the controller was evaluated using
    - p# J- k1 Z# `' \6 j2 ~Matlab simulation. Results verify the feasibility of the theory and show the steering controller is one kind of effective, smooth
    8 \6 `) _+ J( `controller for autonomous vehicles' system. 0 g; I$ L! p$ x' T3 V
    / _) {/ H2 v% Z; l# c9 u; Q$ t

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    A Novel Steering Control for Real Autonomous Vehicles via PI Adaptive.pdf

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