Object

Alternative title:

Metoda sterowania pojazdem autonomicznym z wykorzystaniem uproszczonych modeli referencyjnych oraz regulatorów

Contributor:

Dariusz P. ŻARDECKI, Andrzej DĘBOWSKI

Abstract:

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.

Place of publishing:

Warszawa

Publisher:

Wojskowa Akademia Techniczna

Date created:

2010 r.0

Date submitted:

2022-11-15

Date accepted:

2023-05-08

Date issued:

2023-12-31

Extent:

B5

Identifier:

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

Call number:

doi:10.5604/01.3001.0054.1647

Electronic ISSN:

2720-5266

Print ISSN:

2081-5891

Language:

angielski

License:

click here to follow the link

Rights holder:

Wojskowa Akademia Techniczna

Starting page:

37

Ending page:

58

Volume:

14

Journal:

PROMECH

Keywords:

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