Trajectory tracking for autonomous vehicles: An integrated approach to guidance and control
Trajectory tracking for autonomous vehicles: An integrated approach to guidance and control
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DOI：
10.2514/2.4229
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发表时间：
1998-01-01
影响因子：
2.6
通讯作者：
Silvestre, C
中科院分区：
文献类型：
--
作者：
Kaminer, I;Pascoal, A;Silvestre, C
提出了一种新的自主车辆制导与控制系统集成设计方法。所提出的方法借鉴了增益调度控制理论，并导致一个有效的程序，为自动驾驶汽车的控制器的设计，以准确地跟踪在惯性参考系中定义的参考轨迹。本文说明了应用此程序的无人驾驶飞行器蓝鸟的跟踪控制器的设计。设计阶段进行了总结，并在仿真中使用的车辆及其传感器套件的动态模型的控制器的性能进行评估。
A new methodology is introduced for integrated design of guidance and control systems for autonomous vehicles (AVs). The methodology proposed borrows from the theory of gain-scheduled control and leads to an efficient procedure for the design of controllers for AVs to accurately track reference trajectories defined in an inertial reference frame. The paper illustrates the application of this procedure to the design of a tracking controller for the unmanned air vehicle Bluebird. The design phase is summarized, and the performance of the resulting controller is assessed in simulation using dynamic models of the vehicle and its sensor suite.