Title :
Research on System Design and Control Technology of Vision-Based CyberCar
Author :
Ben, Wang Rong ; Hui, Zhang Rong ; Sheng, Jin Li ; Hong, Guo Xiu ; Lie, Guo
Author_Institution :
Transp. Coll., Jilin Univ.
Abstract :
In this paper the vehicle structure, performance parameters and dynamic model of JLUIV5-CyberCar are discussed. An optimal controller is designed to achieve the line path tracking ability, while the curve path tracking ability is guaranteed by a fuzzy controller. To improve the tracking performance of the vehicle steering system in different conditions, controller output collections of JLUIV5-CyberCar are established combined with variable structure control theory. Design the state observer based on Kalman filter theory to estimate the lateral velocity and yaw rate. Simulations and experimental results have confirmed the effectiveness of the proposed method
Keywords :
Kalman filters; automobiles; fuzzy control; mobile robots; observers; optimal control; path planning; robot dynamics; robot vision; steering systems; variable structure systems; vehicle dynamics; JLUIV5-CyberCar; Kalman filter theory; fuzzy controller; optimal controller; path tracking; state observer; variable structure control theory; vehicle steering system; vehicle structure; vision-based CyberCar; Automatic control; Charge coupled devices; Communication system control; Control systems; Control theory; Intelligent vehicles; Navigation; Road vehicles; Servomechanisms; Switches;
Conference_Titel :
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0258-1
Electronic_ISBN :
1-4244-0259-X
DOI :
10.1109/IROS.2006.282507
