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A Novel Steering Control for Real Autonomous Vehicles via PI Adaptive % p) i8 S+ J1 W* @8 r2 D$ L" M- Q
Dynamic Programming
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A novel steering controller for autonomous vehicles is proposed in this paper. For autonomous vehicles, the efficiency # d2 f1 @& ~7 ^
is an important indicator, in order to reduce the training cost and improve the real-time performance while the car is running on
0 A/ d, _, A! H: C) d7 rthe road, Offline plus online training is proposed in this paper. Offline plus online training is presented to build a model network 1 G$ T r r+ J" v1 R+ c) |4 P0 I( M
of vehicle steering and correct it in real time. Then we adopt a policy iteration adaptive dynamic programming (ADP) to get the
& \4 s5 J1 D/ [$ L7 uoptimal control law and deploy it to autonomous vehicles. Eventually, the performance of the controller was evaluated using / n) M- [, T/ \- |0 A
Matlab simulation. Results verify the feasibility of the theory and show the steering controller is one kind of effective, smooth
; z+ g4 U4 C- `' Pcontroller for autonomous vehicles' system. y2 S, s, e, ?3 [* q4 o
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发表于 2020-11-10 15:34
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