Tracking control of autonomous vehicles with slippage

Author

Li, Howard ; Trentini, Michael

Author_Institution

Dept. of Electr. & Comput. Eng., Univ. of New Brunswick, Fredericton, NB, Canada

fYear

2010

fDate

21-23 June 2010

Firstpage

1

Lastpage

6

Abstract

To achieve desired performance during high speed driving, we cannot neglect slippage. The kinematics and the dynamics of a system should all be considered. Path tracking is one of the most important issues in wheel based vehicles. In this study, we will discuss the dynamic model of an Ackerman steered vehicle. The model is obtained according to Newton´s laws, considering that the vehicle is moving on a plane surface. Fuzzy control laws are designed for the nonlinear system. Finally, the proposed fuzzy controller is tested on the Ackerman steered vehicle and the results show that the proposed fuzzy controller can achieve the desired turning angle and the autonomous vehicle tracks the trajectory satisfactorily.

Keywords

fuzzy control; mobile robots; nonlinear control systems; path planning; road vehicles; robot kinematics; tracking; vehicle dynamics; wheels; Ackerman steered vehicle; Newton laws; autonomous vehicles; fuzzy control laws; high speed driving; nonlinear system; path tracking; slippage; system dynamics; system kinematics; tracking control; wheel based vehicles; Mathematical model; Mobile robots; PD control; Trajectory; Vehicles; Wheels; fuzzy logic; intelligent vehicles; tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Autonomous and Intelligent Systems (AIS), 2010 International Conference on

Conference_Location

Povoa de Varzim

Print_ISBN

978-1-4244-7104-1

Type

conf

DOI

10.1109/AIS.2010.5547029

Filename

5547029