文章基本信息

标题：Experimental Verification of a Control System for Autonomous Navigation ⁎
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作者：Benedek Szͩcs ; Ádám Kisari ; Péter K̷rös 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2020
卷号：53
期号：2
页码：14273-14278
DOI：10.1016/j.ifacol.2020.12.1171
语种：English
出版社：Elsevier
摘要：AbstractA flexible architecture is developed with the purpose of supporting education and research on the field of autonomous vehicles. A pure electric vehicle is equipped with on-board computational units, sensors and actuator interfaces. This paper presents the current status of the control system and its validation by means of navigation experiments. With the cascade control architecture, problems of actuator dead-zone, sensor offset errors, path tracking and redesign for obstacle avoidance are addressed.
关键词：KeywordsAutonomous VehiclesPath FollowingObstacle AvoidanceArtificial Potential Fields