Path tracking on autonomous vehicle for severe maneuvre
Autonomous vehicle consists self-learning process consists recognizing environment, real time localization, path planning and motion tracking control. Path tracking is an important aspect on autonomous vehicle. The main purpose path tracking is the autonomous vehicle have an ability to follow the pr...
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Universitas Ahmad Dahlan
2018
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Online Access: | http://eprints.utm.my/id/eprint/84490/1/HairiZamzuri2018_PathTrackingonAutonomousVehicle.pdf http://eprints.utm.my/id/eprint/84490/ http://dx.doi.org/10.12928/TELKOMNIKA.v16i4.9068 |
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my.utm.844902020-01-11T07:31:24Z http://eprints.utm.my/id/eprint/84490/ Path tracking on autonomous vehicle for severe maneuvre Zulkarnain, Zulkarnain Zamzuri, Hairi Ariff, M. H. M. Abdul Hamid, Umar Zakir T Technology (General) Autonomous vehicle consists self-learning process consists recognizing environment, real time localization, path planning and motion tracking control. Path tracking is an important aspect on autonomous vehicle. The main purpose path tracking is the autonomous vehicle have an ability to follow the predefined path with zero steady state error. The non-linearity of the vehicle dynamic cause some difficulties in path tracking problems. This paper proposes a path tracking control for autonomous vehicle. The controller consists of a relationship between lateral error, longitudinal velocity, the heading error and the reference yaw rate. In addition, the yaw rate controller developed based on the vehicle and tyre model. The effectiveness of the proposed controller is demonstrated by a simulation. Universitas Ahmad Dahlan 2018-08 Article PeerReviewed application/pdf en http://eprints.utm.my/id/eprint/84490/1/HairiZamzuri2018_PathTrackingonAutonomousVehicle.pdf Zulkarnain, Zulkarnain and Zamzuri, Hairi and Ariff, M. H. M. and Abdul Hamid, Umar Zakir (2018) Path tracking on autonomous vehicle for severe maneuvre. Telkomnika (Telecommunication Computing Electronics and Control), 16 (4). pp. 1583-1589. ISSN 1693-6930 http://dx.doi.org/10.12928/TELKOMNIKA.v16i4.9068 |
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T Technology (General) Zulkarnain, Zulkarnain Zamzuri, Hairi Ariff, M. H. M. Abdul Hamid, Umar Zakir Path tracking on autonomous vehicle for severe maneuvre |
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Autonomous vehicle consists self-learning process consists recognizing environment, real time localization, path planning and motion tracking control. Path tracking is an important aspect on autonomous vehicle. The main purpose path tracking is the autonomous vehicle have an ability to follow the predefined path with zero steady state error. The non-linearity of the vehicle dynamic cause some difficulties in path tracking problems. This paper proposes a path tracking control for autonomous vehicle. The controller consists of a relationship between lateral error, longitudinal velocity, the heading error and the reference yaw rate. In addition, the yaw rate controller developed based on the vehicle and tyre model. The effectiveness of the proposed controller is demonstrated by a simulation. |
format |
Article |
author |
Zulkarnain, Zulkarnain Zamzuri, Hairi Ariff, M. H. M. Abdul Hamid, Umar Zakir |
author_facet |
Zulkarnain, Zulkarnain Zamzuri, Hairi Ariff, M. H. M. Abdul Hamid, Umar Zakir |
author_sort |
Zulkarnain, Zulkarnain |
title |
Path tracking on autonomous vehicle for severe maneuvre |
title_short |
Path tracking on autonomous vehicle for severe maneuvre |
title_full |
Path tracking on autonomous vehicle for severe maneuvre |
title_fullStr |
Path tracking on autonomous vehicle for severe maneuvre |
title_full_unstemmed |
Path tracking on autonomous vehicle for severe maneuvre |
title_sort |
path tracking on autonomous vehicle for severe maneuvre |
publisher |
Universitas Ahmad Dahlan |
publishDate |
2018 |
url |
http://eprints.utm.my/id/eprint/84490/1/HairiZamzuri2018_PathTrackingonAutonomousVehicle.pdf http://eprints.utm.my/id/eprint/84490/ http://dx.doi.org/10.12928/TELKOMNIKA.v16i4.9068 |
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13.159267 |