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A Novel Steering Control for Real Autonomous Vehicles via PI Adaptive 2 {5 m$ {/ F0 r' z1 b& f# T1 [8 c
Dynamic Programming - d/ D b; m7 u. p
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A novel steering controller for autonomous vehicles is proposed in this paper. For autonomous vehicles, the efficiency
7 m7 \: c5 K! l0 `2 x5 S5 [is an important indicator, in order to reduce the training cost and improve the real-time performance while the car is running on
0 C6 y1 D3 ]; [, n/ ]1 ?the road, Offline plus online training is proposed in this paper. Offline plus online training is presented to build a model network ; d1 L6 q$ I+ c
of vehicle steering and correct it in real time. Then we adopt a policy iteration adaptive dynamic programming (ADP) to get the6 o2 X8 @1 T. N, ]0 T9 ]3 f
optimal control law and deploy it to autonomous vehicles. Eventually, the performance of the controller was evaluated using
6 D' x) g |; a/ NMatlab simulation. Results verify the feasibility of the theory and show the steering controller is one kind of effective, smooth * {. z+ b; C$ @ \8 ~% f. F+ r
controller for autonomous vehicles' system.
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发表于 2020-11-10 15:34
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