GDL

Journal from gdlhub / 2018-07-26 09:53:13
Oleh : Zulkarnain Zulkarnain, Hairi Zamzuri, M. H. M. Ariff, Umar Zakir Abdul Hamid, Telkomnika
Dibuat : 2018-07-26, dengan 1 file

Keyword : Path tracking; vehicle dynamic; autonomous vehicle; lateral error; stanley controller;
Url : http://journal.uad.ac.id/index.php/TELKOMNIKA/article/view/9068
Sumber pengambilan dokumen : WEB

Autonomous vehicle consists self-learning process consists recognizing environment, real time localization, path planning and motion tracking control. Path tracking is an important aspect on autonomous vehicle. The main purpose path tracking is the autonomous vehicle have an ability to follow the predefined path with zero steady state error. The non-linearity of the vehicle dynamic cause some difficulties in path tracking problems. This paper proposes a path tracking control for autonomous vehicle. The controller consists of a relationship between lateral error, longitudinal velocity, the heading error and the reference yaw rate. In addition, the yaw rate controller developed based on the vehicle and tyre model. The effectiveness of the proposed controller is demonstrated by a simulation.

Beri Komentar ?#(0) | Bookmark

Properti	Nilai Properti
ID Publisher	gdlhub
Organisasi	Telkomnika
Nama Kontak	Herti Yani, S.Kom
Alamat	Jln. Jenderal Sudirman
Kota	Jambi
Daerah	Jambi
Negara	Indonesia
Telepon	0741-35095
Fax	0741-35093
E-mail Administrator	elibrarystikom@gmail.com
E-mail CKO	elibrarystikom@gmail.com