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论文类型：期刊论文

发表时间：2015-11-01

发表刊物：JOURNAL OF VIBROENGINEERING

收录刊物：SCIE、EI、Scopus

卷号：17

期号：7

页面范围：3876-3886

ISSN号：1392-8716

关键字：off-road intelligent vehicle; coordinated control; backstepping variable structure

摘要：In this paper, off-road path recognition and navigation control method are studied to realize intelligent vehicle autonomous driving in unstructured environment. Firstly, the traversable path is achieved by vision and laser sensors. The vehicle steering and driving coupled dynamic model is established. Secondly, a coordinated controller for steering and driving is proposed via the back-stepping variable structure control method, which can be used to deal with the unmatched uncertainties of the control system model. To reduce the chattering phenomenon caused by variable structure, the boundary layer approach is introduced. The results of simulation and off-road experiment show the effectiveness and robustness of the proposed controller.