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Indexed by:Journal Papers

Date of Publication:2015-11-01

Journal:JOURNAL OF VIBROENGINEERING

Included Journals:SCIE、EI、Scopus

Volume:17

Issue:7

Page Number:3876-3886

ISSN No.:1392-8716

Key Words:off-road intelligent vehicle; coordinated control; backstepping variable structure

Abstract: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.