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Study on navigation control method for CyberCar based on machine vision (EI CONFERENCE)

文献类型：会议论文

作者Zhang R.-H. ; Wang R.-B. ; You F. ; Jia H.-G. ; Chen T.
出版日期2008
会议名称2007 IEEE International Conference on Robotics and Biomimetics, ROBIO, December 15, 2007 - December 18, 2007
会议地点Yalong Bay, Sanya, China
关键词The guiding principle and composition of CyberCar based on machine vision was introduced. Applying IM sequence signals as input response signals and least squares method to establish the dynamic equation for CyberCar steering system by system identification experiments firstly and then combined with the preview kinematics model and two-degree steering dynamic model of vehicle. Therefore it can trace the path steadily and reliably. 2008 IEEE. the steering control mathematics model based on preview kinematics for CyberCar was established. And then the switching hyper plane is designed by applying the optimal control theory during the change of the curve curvature radius is little the curve tracking of the intelligent vehicle is carried out by adopting sliding variable structure controller. Aim at the parameter uncertainty of tire a vehicle steering system uncertain model was founded and analyzed. A H optimal controller is designed with the method of H control theory to solve the problem about model uncertainty. The simulation and experiment results show that the controller designed by the proposed method has good robustness and adaptability
页码1882-1887
收录类别EI
源URL[http://ir.ciomp.ac.cn/handle/181722/33096]  
专题长春光学精密机械与物理研究所_中科院长春光机所知识产出_会议论文
推荐引用方式
GB/T 7714		 Zhang R.-H.,Wang R.-B.,You F.,et al. Study on navigation control method for CyberCar based on machine vision (EI CONFERENCE)[C]. 见:2007 IEEE International Conference on Robotics and Biomimetics, ROBIO, December 15, 2007 - December 18, 2007. Yalong Bay, Sanya, China.

入库方式： OAI收割

来源：长春光学精密机械与物理研究所

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