Design and Implementation of a Strategy for Path Tracking on Autonomous Heavy-Duty Vehicles

Design and Implementation of a Strategy for Path Tracking on Autonomous Heavy-Duty Vehicles

In this thesis, a combined feedforward and feedback controller for improved path tracking on autonomous heavy-duty vehicles is designed and implemented. The steering wheel is controlled in order to follow a reference curvature, computed by a higher-level MPC, responsible for minimizing the distance...

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Bibliographic Details
Main Authors: Törnroth, Oscar, Nyberg, Truls
Format: Others
Language:English
Published: Linköpings universitet, Fordonssystem 2018
Subjects:
Control Engineering
Control Architecture
Autonomous Vehicles
Heavy-Duty Vehicles
Motion Control
Path Tracking
Curvature Tracking
Lateral Control
Steering Systems
Feedforward Control Systems
System Identification
Understeering
Reglerteknik
Online Access:http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-149266

Internet

http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-149266

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