Vehicle Steering Control with MPC for Target Trajectory Tracking of Autonomous Reverse Parking

被引：0
|
作者：
Tashiro, Tsutomu [1 ]
机构：
[1] Osaka Sangyo Univ, Dept Mech Engn Transportat, Nakagaito 3-3-3, Daito, Osaka 5748530, Japan
来源：
2013 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS (CCA) | 2013年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, vehicle steering control following target trajectory by MPC (Model Predictive Control) is proposed. First, vehicle turning characteristic is modeled. Here, the model is mainly composed of vehicle rotation model and steering model. Next, MPC controller is derived from quadratic cost function. This controller instructs vehicle rotation radius directly translated into steering angle. It minimizes difference of the position between target trajectory and the predicted when their moving directions are equal. And finally the controller is verified with simulation.
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页码：247 / 251
页数：5
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