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发表时间：2013-01-01

发表刊物：控制理论与应用

所属单位：运载工程与力学学部

期号：1

页面范围：89-94

ISSN号：1000-8152

摘要：Off-road path recognition and trajectory-following control are studied in the paper to realize the intelligent vehicle autonomous navigation in unstructured off-road environment. Firstly, the segmentation and extraction of traversable path are achieved by vision sensor and laser sensor, and the coupled control system model for vehicle steering and driving is established. To deal with the unmatched uncertainties of the control system model, a steering and driving coordinated controller for steering and driving is proposed via backstepping variable structure control method, and boundary layer approach is introduced to suppress the chattering phenomenon caused by variable structure. Finally, Simulations and offroad experiments are given to demonstrate the effectiveness and robustness of the proposed control method.

备注：新增回溯数据