지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
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초록· 키워드
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This paper presents a steering control system model for synchronized driving of two vehicles to increase the freedom of cargo transportation. The two autonomous vehicles drive side by side in the lateral direction to safely transport one large cargo. The overall steering control algorithm for synchronization consists of two parts. The first part preemptively determines the vehicle speed and steering angle for the two vehicles to have the same instantaneous rotation center using the Ackerman steering mechanism. However, the gap between the vehicles is not maintained because it is impossible to accurately achieve the kinematically required vehicle speed and steering angle of each wheel at every moment. To address this issue, the two vehicles form a master-slave relationship, allowing the slave vehicle to track the master vehicle. The second part of the steering control algorithm generates a trajectory of the virtual vehicle having a constant lateral offset from the master vehicle and determines an additional corrective steering angle of the slave vehicle to reduce the position error with the virtual vehicle. The position error dynamics can be described by a bilinear control system. The error state feedback steering control system was designed and the control performance was verified via computer simulation studies.
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ABSTRACT
1. 서론
2. 동기화 주행을 위한 조향 제어 시스템
3. 피드포워드 조향 제어 알고리즘
4. 피드백 조향 제어 알고리즘
5. 결론
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