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dc.contributor.author한창수-
dc.date.accessioned2021-04-27T02:02:57Z-
dc.date.available2021-04-27T02:02:57Z-
dc.date.issued2000-04-
dc.identifier.citation한국정밀공학회지, v. 17, no. 4, page. 121-128en_US
dc.identifier.issn1225-9071-
dc.identifier.issn2287-8769-
dc.identifier.urihttp://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE00845471-
dc.identifier.urihttps://repository.hanyang.ac.kr/handle/20.500.11754/161748-
dc.description.abstractIn 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.en_US
dc.language.isoko_KRen_US
dc.publisher한국정밀공학회en_US
dc.subjectAutonomous vehicle (자율 주행차량)en_US
dc.subjectKinematic model(기구학적 모델)en_US
dc.subjectNonholonomic(논홀로노믹)en_US
dc.subjectQuadratic optimal control(정방최적제어)en_US
dc.subjectPath tracking(경로주종)en_US
dc.subjectReference path(기준경로)en_US
dc.title자율 주행차량의 경로추종 제어 알고리즘en_US
dc.title.alternativeA Path Tracking Control Algorithm for Autonomous Vehiclesen_US
dc.typeArticleen_US
dc.relation.journal한국정밀공학회지-
dc.contributor.googleauthor안정우-
dc.contributor.googleauthor박동진-
dc.contributor.googleauthor권태종-
dc.contributor.googleauthor한창수-
dc.relation.code2012101691-
dc.sector.campusE-
dc.sector.daehakCOLLEGE OF ENGINEERING SCIENCES[E]-
dc.sector.departmentDEPARTMENT OF ROBOT ENGINEERING-
dc.identifier.pidcshan-
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COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ROBOT ENGINEERING(로봇공학과) > Articles
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