High maneuvering control is important to enhance the maneuverability and safety of autonomous vehicles. However, the vehicle’s dynamic characteristics are complex and nonlinear at high speeds and aggressive steering maneuvers, posing a serious challenge to vehicle stability control. It is necessary to design a controller that considers the complex dynamics of the vehicle and guarantees real-time performance. Therefore, in this study, a controller based on a nonlinear vehicle dynamics model and using a dual heuristic programming (DHP) algorithm is designed for autonomous vehicles’ high maneuvering control. It achieves a good trade-off between tracking performance and computational burden by first learning offline and then deploying after successful learning. Simulation results demonstrate the effectiveness and adaptability of the proposed controller.
High Maneuvering Control of Autonomous Vehicles Using Dual Heuristic Programming
Lect. Notes Electrical Eng.
International Conference on Autonomous Unmanned Systems ; 2021 ; Changsha, China September 24, 2021 - September 26, 2021
Proceedings of 2021 International Conference on Autonomous Unmanned Systems (ICAUS 2021) ; Kapitel : 171 ; 1739-1747
2022-03-18
9 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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