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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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    A novel steering controller for autonomous vehicles is proposed in this paper. For autonomous vehicles, the efficiency ) j; K: ?' M7 E) P$ L2 }" g
    is an important indicator, in order to reduce the training cost and improve the real-time performance while the car is running on $ |8 \9 |% n# s# O+ v
    the road, Offline plus online training is proposed in this paper. Offline plus online training is presented to build a model network
    : M7 v0 i3 g  [( o4 ~) jof vehicle steering and correct it in real time. Then we adopt a policy iteration adaptive dynamic programming (ADP) to get the
    ( ^% K1 V( q( s- _( Voptimal control law and deploy it to autonomous vehicles. Eventually, the performance of the controller was evaluated using & H) D8 N. y- L3 D; U
    Matlab simulation. Results verify the feasibility of the theory and show the steering controller is one kind of effective, smooth
    5 a$ V: g/ l- l- S. F2 lcontroller for autonomous vehicles' system. 0 R( E! A/ n, d2 e4 |" [: Z5 _

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

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