To guarantee CyberCar tracks target path steadily, navigation controller design is one of key technologies. The control mathematical model for the vehicle based on preview kinematics was established firstly. The method of optimizing parameters, including weight matrix, weight coefficient and preview distance was studied, for optimal navigation controller based on modern control theory. Simulation analysis and experimental results show that the optimized controller has good quality with respect to the uncertain factors in vehicle model, and it has good track performance during the JLUIV5-CyberCar outdoor navigation experiments.
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王荣本,张荣辉,储江伟,游峰.区域交通智能车辆控制器优化设计和品质分析[J].农业机械学报,2007,38(1):22-25.[J]. Transactions of the Chinese Society for Agricultural Machinery,2007,38(1):22-25.