Title :
Control of an autonomous vehicle: design and first practical results
Author :
Söhnitz, Ina ; Schwarze, Klaus
Author_Institution :
Inst. of Control Eng., Tech. Univ. Braunschweig, Germany
fDate :
6/21/1905 12:00:00 AM
Abstract :
The lateral and the longitudinal dynamics of a vehicle are usually controlled separately. The paper deals mainly with the control concept and presents first practical results of the lateral module of an autonomous road vehicle, which is driven by a robot. The design of a robust H2-controller based on standard H2/H∞-algorithms is described. An additional curvature compensation function is introduced to minimize the lateral deviation caused by the bending of the desired path. The resulting feedforward control structure simplifies the task of the controller significantly. Additionally, the longitudinal control module implemented in the robot is presented briefly
Keywords :
H∞ control; closed loop systems; compensation; control system synthesis; feedforward; path planning; position control; road vehicles; robots; robust control; velocity control; autonomous road vehicle; curvature compensation function; feedforward control structure; lateral deviation; lateral dynamic; longitudinal dynamics; robust H2-controller; standard H2/H∞-algorithms; Automatic control; Automatic testing; Hydrogen; Mobile robots; Position measurement; Remotely operated vehicles; Road vehicles; Robotics and automation; Vehicle dynamics; Wheels;
Conference_Titel :
Intelligent Transportation Systems, 1999. Proceedings. 1999 IEEE/IEEJ/JSAI International Conference on
Conference_Location :
Tokyo
Print_ISBN :
0-7803-4975-X
DOI :
10.1109/ITSC.1999.821099
