DocumentCode :
3475315
Title :
Sliding mode path control for an autonomous vehicle
Author :
Mechlih, Hachemi
Author_Institution :
Dept. of Mech. Eng., Ecole Polytech. de Montreal, Que., Canada
fYear :
1993
fDate :
12-15 Oct. 1993
Firstpage :
543
Lastpage :
546
Abstract :
A new path control algorithm for path tracking of autonomous vehicles (AV) is proposed, using both theoretical arguments and simulation experiments. The AV considered is a tricycle configuration with front driving and steering wheel, and two passive load-bearing rear wheels. A variable structure path control (VSPC) is used to maintain the AV´s state trajectory on the desired path. The reference trajectory represents the sliding or switching surface. The front steering angle and the drive velocity are controlled using modified model reference adaptive control. The dynamic model of the AV and the unexpected disturbances are assumed to be completely unknown. Simulation results are presented to illustrate the usefulness of this algorithm.
Keywords :
variable structure systems; autonomous vehicle; drive velocity; front driving; front steering angle; modified model reference adaptive control; passive load-bearing rear wheels; path control algorithm; path tracking; simulation experiments; sliding surface; state trajectory; steering wheel; switching surface; tricycle configuration; variable structure path control; Adaptive control; Intelligent vehicles; Mobile robots; Navigation; Path planning; Production facilities; Remotely operated vehicles; Sliding mode control; Target tracking; Wheels;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Vehicle Navigation and Information Systems Conference, 1993., Proceedings of the IEEE-IEE
Conference_Location :
Ottawa, Ontario, Canada
Print_ISBN :
0-7803-1235-X
Type :
conf
DOI :
10.1109/VNIS.1993.585691
Filename :
585691
Link To Document :
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