Steering Control of the Autonomous Vehicle: CajunBot

نویسندگان

  • John Herpin
  • Afef Fekih
  • Suresh Golconda
  • Arun Lakhotia
چکیده

This paper describes the steering controller of the CajunBot II, an autonomous vehicle designed for the DARPA Urban Challenge. The autonomous vehicle is a modified Jeep Wrangler Rubicon equipped with INS/GPS for localization, three sets of sensors and three single board computers. The control objective is to make the lateral error at a certain point ahead of the vehicle zero. The distance of this point from the vehicle is called the look-ahead distance. A proportional Integral controller augmented with a moving average filter to dump the yaw internal dynamics is proposed to achieve this objective. The steering controller was tested under full-scale conditions and its dynamic performances are discussed here.

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

CajunBot: Architecture and algorithms

CajunBot, an autonomous ground vehicle and a finalist in the 2005 DARPA Grand Challenge, is built on the chassis of MAX IV, a six-wheeled ATV. Transformation of the ATV to an AGV (Autonomous Ground Vehicle) required adding drive-by-wire control, LIDAR sensors, an INS, and a computing system. Significant innovations in the core computational algorithms include an obstacle detection algorithm tha...

متن کامل

Modeling and Optimal Control of 4 Wheel Steering Vehicle Using LQR and its Comparison with 2 Wheel Steering Vehicle

In this paper, kinetic and kinematic modeling of a 4 wheel steering vehicle is done and its movement is controlled in an optimal way using Linear Quadratic Regulator (LQR). The results are compared with the same control of two-wheel steering case and the advantages are analyzed. In 4 wheel steering vehicles which are nowadays more applicable the number of controlling actuators are more than the...

متن کامل

CajunBot - II : An Autonomous Vehicle for the DARPA Urban Challenge

DISCLAIMER: The information contained in this paper does not represent the official policies, either expressed or implied, of the Defense Advanced Research Projects Agency (DARPA) or the Department of Defense. DARPA does not guarantee the accuracy or reliability of the information in this paper.

متن کامل

The Optimal Steering Control System using Imperialist Competitive Algorithm on Vehicles with Steer-by-Wire System

Steer-by-wire is the electrical steering systems on vehicles that are expected with the development of an optimal control system can improve the dynamic performance of the vehicle. This paper aims to optimize the control systems, namely Fuzzy Logic Control (FLC) and the Proportional, Integral and Derivative (PID) control on the vehicle steering system using Imperialist Competitive Algorithm (IC...

متن کامل

Lateral control strategy for autonomous steering of Ackerman-like vehicles

This paper presents the results of a lateral control strategy that has been applied to the problem of steering an autonomous vehicle using vision. The lateral control law has been designed for any kind of vehicle presenting the Ackerman kinematic model, accounting for the vehicle velocity as a crucial parameter for adapting the steering control response. This makes the control strategy suitable...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

عنوان ژورنال:
  • JACIC

دوره 4  شماره 

صفحات  -

تاریخ انتشار 2007