A path-tracking algorithm using predictive Stanley lateral controller
نویسندگان
چکیده
منابع مشابه
Design of an Intelligent Controller for Station Keeping, Attitude Control, and Path Tracking of a Quadrotor Using Recursive Neural Networks
During recent years there has been growing interest in unmanned aerial vehicles (UAVs). Moreover, the necessity to control and navigate these vehicles has attracted much attention from researchers in this field. This is mostly due to the fact that the interactions between turbulent airflows apply complex aerodynamic forces to the system. Since the dynamics of a quadrotor are non-linear and the ...
متن کاملDesigning a quantum genetic controller for tracking the path of quantum systems
Based on learning control methods and computational intelligence, control of quantum systems is an attractive field of study in control engineering. What is important is to establish control approach ensuring that the control process converges to achieve a given control objective and at the same time it is simple and clear. In this paper, a learning control method based on genetic quantum contr...
متن کاملA Predictive controller for object tracking of a mobile robot
In this paper a predictive controller for real-time target tracking in mobile robotics is proposed based on adaptive/evolving Takagi-Sugeno fuzzy systems, eTS. The predictive controller consists of two modules; i) a conventional fuzzy controller for robot motion control, and ii) a modelling tool for estimation of the target movements. The prediction of target movements enables the controller to...
متن کاملPath Tracking Algorithm for a Robot Manipulator
A number of algorithms for mobile robot path have been described in the robotics control literature. This paper presents a comparative experimental study of the classical controllers for the path tracking 1-link robot. Dynamic model of the robot has been taken here and two types of controls i.e. PD and PID have been compared. Experiments have been done by using MATLAB. Gains for both the contro...
متن کاملA 3d Path-following Velocity-tracking Controller for Autonomous Vehicles
This paper addresses the path-following problem of steering an autonomous vehicle along a desired path, while tracking a predefined velocity profile. The presented solution relies on the definition of a path-dependent error space to express the dynamic model of the vehicle, which is specially suited for a Dmethodology controller implementation. The error space exhibits a high-degree of directio...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: International Journal of Advanced Robotic Systems
سال: 2020
ISSN: 1729-8814,1729-8814
DOI: 10.1177/1729881420974852