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论文类型：期刊论文

发表时间：2018-06-01

发表刊物：PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING

收录刊物：SCIE

卷号：232

期号：7

页面范围：896-908

ISSN号：0954-4070

关键字：Autonomous vehicles; path-following control; vehicle lateral dynamics; guaranteed-cost control; off-road

摘要：This paper deals with the problem of automatic path-following control for a class of autonomous vehicle systems with parametric uncertainties and external disturbances in cross-country conditions. In the unstructured environments, the unevenness, the discontinuity and the variability of the terrain greatly increase the parametric uncertainties and the external perturbations of autonomous vehicles. To overcome these difficulties, a novel automatic path-following control scheme of vision-based autonomous vehicles is presented by utilizing the guaranteed-cost control theory. First, a new road detection algorithm used for segmenting and extracting the traversable path in unstructured terrains is achieved by using a combination consisting of multiple sensors, and the local relative position information between the vehicles and the desired trajectories can be acquired by the proposed detected algorithm in real time. Then, an optimal guaranteed-cost path-following control system is proposed, which can deal with the parametric uncertainties of autonomous vehicles and ensure the stability of the closed-loop control system. Finally, both simulation tests and experimental results demonstrate that the proposed control scheme can guarantee high path-tracking accuracy irrespective of the parametric uncertainties.