Disturbance adaptive steering wheel torque control for enhanced path tracking of autonomous vehicles.
Dongpil LeeKyongsu YiPublished in: ACC (2017)
Keyphrases
- wheeled mobile robots
- autonomous vehicles
- trajectory tracking
- dynamic model
- closed loop
- control system
- control method
- structured environments
- path planning
- real time
- control strategy
- obstacle avoidance
- control scheme
- control law
- sliding mode
- robot control
- route planning
- adaptive control
- particle filter
- control algorithm
- multiagent systems
- tracking error
- mobile robot
- induction motor
- augmented reality
- desired trajectory
- long range
- shortest path
- pose estimation
- autonomous agents
- mathematical model