The guiding principle and composition of CyberCar based on machine vision was introduced. Applying IM sequence signals as input response signals and least squares method to establish the dynamic equation for CyberCar steering system by system identification experiments firstly, and then combined with the preview kinematics model and two-degree steering dynamic model of vehicle. Therefore, the steering control mathematics model based on preview kinematics for CyberCar was established. And then the switching hyper plane is designed by applying the optimal control theory, during the change of the curve curvature radius is little, the curve tracking of the intelligent vehicle is carried out by adopting sliding variable structure controller. Aim at the parameter uncertainty of tire, a vehicle steering system uncertain model was founded and analyzed. A Hx optimal controller is designed with the method of Hx control theory to solve the problem about model uncertainty. The simulation and experiment results show that the controller designed by the proposed method has good robustness and adaptability; it can trace the path steadily and reliably.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen


    Exportieren, teilen und zitieren



    Titel :

    Study on navigation control method for cybercar based on machine vision


    Beteiligte:
    Zhang, Rong-hui (Autor:in) / Wang, Rong-ben (Autor:in) / You, Feng (Autor:in) / Jia, Hong-guang (Autor:in) / Chen, Tao (Autor:in)


    Erscheinungsdatum :

    2007


    Format / Umfang :

    6 Seiten, 10 Quellen


    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




    Machine vision and navigation

    Sergiyenko, Oleg ;Flores-Fuentes, Wendy ;Mercorelli, Paolo | TIBKAT | 2020


    Machine Design and Vision Based Navigation

    Gautam, Samrat | BASE | 2014

    Freier Zugriff

    Vision-Based Navigation

    Pick, H. L. / Thompson, W. B. / Defense Advanced Research Projects Agency; Software and Intelligence Systems Technology Office | British Library Conference Proceedings | 1993


    Machine vision system for UAV navigation

    Lindner, Lars / Sergiyenko, Oleg / Rivas-Lopez, Moises et al. | IEEE | 2016


    VISION-BASED NAVIGATION SYSTEM

    OMARI SAMMY / GOHL PASCAL | Europäisches Patentamt | 2018

    Freier Zugriff