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자율 주행차량의 경로추종 제어 알고리즘

Title
자율 주행차량의 경로추종 제어 알고리즘
Other Titles
A Path Tracking Control Algorithm for Autonomous Vehicles
Author
한창수
Keywords
Autonomous vehicle (자율 주행차량); Kinematic model(기구학적 모델); Nonholonomic(논홀로노믹); Quadratic optimal control(정방최적제어); Path tracking(경로주종); Reference path(기준경로)
Issue Date
2000-04
Publisher
한국정밀공학회
Citation
한국정밀공학회지, v. 17, no. 4, page. 121-128
Abstract
In this paper, the control algorithm for an autonomous vehicle is studied and applied to an actual 2 wheel-driven vehicle system. In order to control a nonholonomic system, the kinematic model for an autonomous vehicle is constructed by relative velocity relationship about the virtual point at distance from the vehicle's frame. And the optimal controller that based on the kinematic model is operated on purpose to track a reference vehicle's path. The actual system is designed with named 'HYAV1' and the system controller is applied. Because all the results of simulation don't satisfy the driving conditions of HYAV1, a reformed control algorithm that satisfies an actual autonomous vehicle is applied at HYAV1. At the results of actual experiments, the path tracking works very well by the reformed control algorithm. An autonomous vehicle that applied this control algorithm can be easily used for a path generation algorithm.
URI
http://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE00845471https://repository.hanyang.ac.kr/handle/20.500.11754/161748
ISSN
1225-9071; 2287-8769
Appears in Collections:
COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ROBOT ENGINEERING(로봇공학과) > Articles
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