In this paper, we investigate the Least SquaresSupport Vector Machine (LS-SVM) control for path following problem of autonomous ground vehicles (AGV). Firstly, the steering angle input and the lateral offset output of the path following system model which is the two degree of freedom (DOF) vehicle model with integrated vision model are collected to form the training data of the LS-SVM model. Then, the LS- SVM model for the path following of vehicle is trained from the collected data and the controller is solved from the LS-SVM model. The effectiveness of the proposed control approach is validated by the performance of the closed-loop path following system in Matlab/Simulink.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    An LS-SVM control method for path following of autonomous ground vehicles


    Contributors:
    Shi, Qian (author) / Zhang, Hui (author)


    Publication date :

    2020-11-01


    Size :

    1057162 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




    Path-following control of autonomous ground vehicles based on input convex neural networks

    Jiang, Kai / Hu, Chuan / Yan, Fengjun | SAGE Publications | 2022


    Path following controller for autonomous vehicles

    Domina, Adam / Tihanyi, Viktor | IEEE | 2019


    Road-Following Formation Control of Autonomous Ground Vehicles

    Ono, Masahiro / Droge, Greg / Grip, Havard et al. | NTRS | 2015