Longitudinal Controller Design For Autonomous Ground Vehicle in Off-road Environment

被引：2
|
作者：
Liu Daxue [1 ]
Sun Zhenping [1 ]
Zhao Hanqing [1 ]
Li Zheng [1 ]
He Hangen [1 ]
机构：
[1] Natl Univ Def Technol, Coll Mechatron Engn & Automat, Changsha 410073, Hunan, Peoples R China
来源：
PROCEEDINGS OF THE 27TH CHINESE CONTROL CONFERENCE, VOL 7 | 2008年
关键词：
Longitudinal control; Feedforwd; Feedback; Speed plan;
D O I：
10.1109/CHICC.2008.4605630
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper design a feedforwd controller for longitudinal control of autonomous groud vehicle based on the analysis the force of the vehicle in Off-road Environment. To make up the weakness of the foreward controller, speed error in importd as the feedback signal. A longitudinal controller composed of feedforwd controller and feedback controller is designed. The expected speed of the longitudinal controller is generated by multiple restriction of global planning speed.
引用
收藏
页码：687 / 690
页数：4
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