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Vol. 167, Issue 3, March 2014, pp. 203-209

 

Bullet

 

Position and Attitude Alternate of Path Tracking Heading Control
 

Baocheng Tan, Feng Lv

School of Electronic Information Engineering, Xi’an Technological University, Xi’an 710032, China
Tel.: 15829901685

E-mail: 1595793678@qq.com

 

Received: 16 January 2014 /Accepted: 28 February 2014 /Published: 31 March 2014

Digital Sensors and Sensor Sysstems

 

Abstract: The path tracking control algorithm is one of the key problems in the control system design of autonomous vehicle. In this paper, we have conducted dynamic modeling for autonomous vehicle, the relationship between course deviation and yaw rate and centroid deflection angle. From the angle of the dynamics and geometrical, this paper have described the path tracking problem, analyzed the emergence of the eight autonomous vehicles pose binding - position and attitude alternate control methods to identify the relationship between posture and the controlling variables, and design a controller, the experimental results verify the feasibility and effectiveness of this control method.

 

Keywords: Autonomous vehicle, Path tracking, Heading control, Pose alternately control.

 

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