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On Low Complexity P...
On Low Complexity Predictive Approaches to Control of Autonomous Vehicles
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- Falcone, Paolo, 1977 (författare)
- Chalmers tekniska högskola,Chalmers University of Technology
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- Borrelli, Francesco (författare)
- University of California
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- Tseng, H. Eric (författare)
- Ford Motor Company
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- Hrovat, Davor (författare)
- Ford Motor Company
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(creator_code:org_t)
- ISBN 9781849960700
- London : Springer London, 2010
- 2010
- Engelska.
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Ingår i: Lecture Notes in Control and Information Sciences. - London : Springer London. - 0170-8643. - 9781849960700 ; 402, s. 195-210
- Relaterad länk:
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http://dx.doi.org/10...
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https://research.cha...
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https://doi.org/10.1...
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Innehållsförteckning
Abstract
Ämnesord
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- In this chapter we present low complexity predictive approaches to the control of autonomous vehicles. A general hierarchical architecture for fully autonomous vehicle guidance systems is presented together with a review of two control design paradigms. Our review emphasizes the trade off between performance and computational complexity at different control levels of the architecture. In particular, experimental results are presented, showing that if the controller at the lower level is properly designed, then it can handle system nonlinearities and model uncertainties even if those are not taken into account at the higher level.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Maskinteknik -- Farkostteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Mechanical Engineering -- Vehicle Engineering (hsv//eng)
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
Nyckelord
- Autonomous Vehicles
- Vehicle Dynamics Control
- Model Predictive Control
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