Autonomous Vehicle Passage on a Predetermined Path

• Autorzy: Olchowik M. , Radkowski S.
• Języki publikacji: EN

Abstrakty

EN

The work discusses the problem of autonomous vehicle control during its passage on a predetermined path. In the autonomous vehicle, the computer takes on all the activities related to driving, which in a standard vehicle are performed by the driver. The geometric trace is, in such a case, followed automatically with no human intervention whatsoever. The autonomous vehicle should be able to complete the journey safely, i.e. without going off the track, turning abruptly or skidding. This is ensured by two, properly designed and implemented regulators: the front-wheel turning angle regulator and the vehicle longitudinal velocity regulator. Restrictions of the vehicle angular velocity related to the tire-road friction and maximum turning angle of the front wheels were also imposed.

Słowa kluczowe

EN

autonomous vehicle; chained-form; control

• Wydawca: Oficyna Wydawnicza Politechniki Warszawskiej
• Czasopismo: Machine Dynamics Research
• Rocznik: 2017
• Tom: Vol. 41, No. 2
• Strony: 17--29
• Opis fizyczny: Bibliogr. 7 poz., fot., rys., wykr.

Twórcy

autor

Olchowik M.

• Warsaw University of Technolog, Institute of Vehicles

autor

Radkowski S.

• Warsaw University of Technology, Institute of Vehicles

Bibliografia

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• 2. Gracia, L. and Tornero, J. (2002). Kinematic control system for car-like vehicles. In Proceedings of the 8th Ibero-American Conference on AI: Advances in Artificial Intelligence, pages 882–892. Springer-Verlag.
• 3. Jazar, R. N. (2008). Vehicle dynamics: theory and application. Springer.
• 4. Petti, S. and Fraichard, T. (2005). Safe navigation of a car-like robot in a dynamic environment. In Proc. of the European Conf. on Mobile Robots.
• 5. Snider, J. M. et al. (2009). Automatic steering methods for autonomous automobile path tracking. Robotics Institute, Pittsburgh, PA, Tech. Rep. CMU-RITR-09-08.
• 6. Tvetmarken, S. A. (2012). Analyzing motions of unicycles and car-like vehicles. Master’s thesis, Institutt for Teknisk Kybernetikk.
• 7. Yuksel, M. A. M. (2013). Design and implementation of a path tracking steering controller for eo smart connecting car.