Should the Desired Heading in Path Following of Autonomous Vehicles be the Tangent Direction of the Desired Path?


The path-following drawback for autonomous vehicles is investigated during this paper. The desired vehicle heading is usually chosen because the tangent direction on the specified path. This paper points out that the ancient definition of the desired heading could deteriorate the path-following performance, significantly when the vehicle is tracking a path with large curvature. That's because the sideslip angle management and therefore the yaw rate management are conflicting within the presence of sliding effects, and also the sideslip angle does not equal to zero when the vehicle is tracking a curve path. This paper additional provides an change to the definition of the desired heading, which realizes a a lot of correct path-following maneuver. In the controller style section, backstepping is used to come up with the required yaw rate, and an LQR controller is adopted to get the optimal active front steering input. The CarSim–Simulink joint simulation verifies the reasonability of the modification to the desired heading.

Did you like this research project?

To get this research project Guidelines, Training and Code... Click Here

PROJECT TITLE : Sleep Scheduling for Geographic Routing in Duty-Cycled Mobile Sensor Network - 2014 ABSTRACT: Recently, the research focus on geographic routing, a promising routing scheme in wireless sensor networks (WSNs),
PROJECT TITLE : R3E Reliable Reactive Routing Enhancement for Wireless Sensor Networks - 2014 ABSTRACT: Providing reliable and efficient communication under fading channels is one of the major technical challenges in wireless
PROJECT TITLE : Fast and Secure Multihop Broadcast Solutions for Intervehicular Communication - 2014 ABSTRACT: Intervehicular communication (IVC) is an important emerging research area that is expected to considerably contribute
PROJECT TITLE :T-Drive Enhancing Driving Directions with Taxi Drivers’ Intelligence - 2013ABSTRACT:This paper presents a smart driving direction system leveraging the intelligence of experienced drivers. In this system, GPS-equipped

Ready to Complete Your Academic MTech Project Work In Affordable Price ?

Project Enquiry