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ID:34576341
大小:1.64 MB
页数:78页
时间:2019-03-08
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1、AutomaticSteeringMethodsforAutonomousAutomobilePathTrackingJarrodM.SniderCMU-RI-TR-09-08February2009RoboticsInstituteCarnegieMellonUniversityPittsburgh,PennsylvaniacCarnegieMellonUniversityAbstractThisresearchderives,implements,tunesandcomparesselectedpathtrackingmethodsforcontrollinga
2、car-likerobotalongapredeterminedpath.Thescopeincludescommonlyusedmethodsfoundinpracticeaswellassometheoreticalmethodsfoundinvariousliteraturefromotherareasofresearch.Thisworkreviewsliteratureandidentifiesimportantpathtrackingmodelsandcontrolalgorithmsfromthevastbackgroundandresources.Th
3、ispaperaugmentstheliteraturewithacomprehensivecollectionofimportantpathtrackingideas,aguidetotheirimplementationsand,mostimportantly,anindependentandrealisticcomparisonoftheperformanceofthesevariousapproaches.Thisdocumentdoesnotcatalogalloftheworkinvehiclemodelingandcontrol;onlyaselect
4、ionthatisperceivedtobeimportantideaswhenconsideringpracticalsystemidentification,easeofimplementation/tuningandcomputationalefficiency.Thereareseveralothermethodsthatmeetthiscriteria,howevertheyaredeemedsimilartooneormoreoftheapproachespresentedandarenotincluded.Theperformanceresults,ana
5、lysisandcomparisonoftrackingmethodsultimatelyrevealthatnoneoftheapproachesworkwellinallapplicationsandthattheyhavesomecomplementarycharacteristics.Thesecomplementarycharacteristicsleadtoanideathatacombinationofmethodsmaybeusefulformoregeneralapplications.Additionally,applicationsforwhi
6、chthemethodsinthispaperdonotprovideadequatesolutionsareidentified.IIAcknowledgementsThisworkwouldnothavebeenpossiblewithoutthesupport,motivationandencouragementofDr.ChrisUrmson,underwhosesupervisionIchosethisareaofresearch.IwouldliketoacknowledgetheadviceandguidanceofDr.William”Red”Whit
7、taker,whomneverceasestoamazeandinspireme.SpecialthanksgotoTugrulGalatali,whoseknowledgeandassistancewasinstrumentalinthesuccessofthisresearchandpaper.IacknowledgeMechanicalSimulationfortheirgeneroussupportanddiscountofCarSim.WithoutCarSim,qualityanalysisandcomparisonoftrackingmethods
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