Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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A Path Tracking Control Algorithm for Autonomous Vehicles

자율 주행차량의 경로추종 제어 알고리즘

  • 안정우 (한양대학교 대학원 정밀기계공학과) ;
  • 박동진 (한양대학교 대학원 정밀기계공학) ;
  • 권태종 (한양대학교 대학원 정밀기계공학) ;
  • 한창수 (한양대학교 기계공학과)
  • Published : 2000.04.01
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Abstract

In this paper, the control algorithm fur 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 'HYAVI' and the system controller is applied. Because all the results of simulation don't satisfy the driving conditions of HYAVI, a reformed control algorithm that satisfies an actual autonomous vehicle is applied at HYAVI. 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.

Keywords

References

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