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[书籍资源] 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 2020-11-10 15:34 |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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    + G5 F+ e% {' D& I6 AA novel steering controller for autonomous vehicles is proposed in this paper. For autonomous vehicles, the efficiency ; q7 s, E$ u7 I4 _4 O$ Q3 a) B' H
    is an important indicator, in order to reduce the training cost and improve the real-time performance while the car is running on
    # l! E  h" k" T3 H: dthe road, Offline plus online training is proposed in this paper. Offline plus online training is presented to build a model network 9 F( \8 F- `( f/ i
    of vehicle steering and correct it in real time. Then we adopt a policy iteration adaptive dynamic programming (ADP) to get the" y1 m- n9 B$ ~4 L9 V2 C
    optimal control law and deploy it to autonomous vehicles. Eventually, the performance of the controller was evaluated using
    1 k: b9 P) z6 YMatlab simulation. Results verify the feasibility of the theory and show the steering controller is one kind of effective, smooth
    ( C6 \- f: j/ }. S% D; Wcontroller for autonomous vehicles' system.
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    * ?" \  [5 r- d: b3 R" u' R! }% }8 F/ x& x# g& b! L3 e

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

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