Obiekt

Tytuł odmienny:

Metoda sterowania pojazdem autonomicznym z wykorzystaniem uproszczonych modeli referencyjnych oraz regulatorów ; Metoda sterowania pojazdem autonomicznym z wykorzystaniem uproszczonych modeli referencyjnych oraz regulatorów

Współtwórca:

Dariusz P. ŻARDECKI, Andrzej DĘBOWSKI ; Dariusz P. ŻARDECKI, Andrzej DĘBOWSKI

Abstrakt:

This study contains a conceptual solution of the control method for an autonomous vehicle based on a simplified reference model and regulators. The whole issue is considered on the example of the execution phase of the lane change manoeuvre, in which the well-known 4WS (Four-Wheel-Steering) bicycle model and Kalman regulators based on the LQR (Linear-Quadratic Regulator) technique were used. The overall developed control mechatronic system was subjected to simulation studies in Matlab&Simulink. The simulation results showed correct functioning of the entire mechatronic control system and allowed us to determine further research directions. The developed control method can also find application in military vehicles.
; This study contains a conceptual solution of the control method for an autonomous vehicle based on a simplified reference model and regulators. The whole issue is considered on the example of the execution phase of the lane change manoeuvre, in which the well-known 4WS (Four-Wheel-Steering) bicycle model and Kalman regulators based on the LQR (Linear-Quadratic Regulator) technique were used. The overall developed control mechatronic system was subjected to simulation studies in Matlab&Simulink. The simulation results showed correct functioning of the entire mechatronic control system and allowed us to determine further research directions. The developed control method can also find application in military vehicles.

Miejsce wydania:

Warszawa
; Warszawa

Wydawca:

Wojskowa Akademia Techniczna ; Wojskowa Akademia Techniczna

Data utworzenia:

2010 r.0

Data złożenia:

2022-11-15 ; 2022-11-15

Data akceptacji:

2023-05-08 ; 2023-05-08

Data wydania:

2023-12-31 ; 2023-12-31

Rozmiar:

B5 ; B5

Identyfikator:

oai:ribes-88.man.poznan.pl:2688

Sygnatura:

doi:10.5604/01.3001.0054.1647 ; doi:10.5604/01.3001.0054.1647

ISSN elektroniczny:

2720-5266 ; 2720-5266

ISSN drukowany:

2081-5891 ; 2081-5891

Język:

angielski ; angielski

Licencja:

kliknij tutaj, żeby przejść ; kliknij tutaj, żeby przejść

Właściciel praw:

Wojskowa Akademia Techniczna ; Wojskowa Akademia Techniczna

Strona początkowa:

37 ; 37

Strona końcowa:

58 ; 58

Tom:

14 ; 14

Czasopismo:

PROMECH ; PROMECH

Słowa kluczowe:

mechanical engineering, autonomous vehicle, 4WS vehicle, lane change process, bicycle model ; mechanical engineering, autonomous vehicle, 4WS vehicle, lane change process, bicycle model