Path-Following Control Based on Ground-Watching Navigation

This paper discusses the path-following performance of actively-steered articulated vehicles based on measurement signals from two “ground-watching” navigation systems (GWNSs). The GWNSs are described. These uses high-speed USB-3 cameras and an image processing computer to measure and calculate off-tracking distance for a path-following steering controller. Full-scale field tests are performed using an experimental articulated vehicle, tested under both open-loop and closed-loop conditions. Off-tracking distance at the rear camera with respect to the front camera is controlled to be less than 0.1 m for tests with both GWNSs.

• Record URL:
  • https://doi.org/10.1109/TITS.2017.2761772
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/oclc/41297384
• Supplemental Notes:
  • Copyright © 2018, IEEE.
• Authors:
  • Miao, Qiheng
  • Cebon, David
• Publication Date: 2018-8

Language

• English

Media Info

• Media Type: Digital/other
• Features: Figures; References; Tables;
• Pagination: pp 2592-2602
• Serial:
  • IEEE Transactions on Intelligent Transportation Systems
  • Volume: 19
  • Issue Number: 8
  • Publisher: Institute of Electrical and Electronics Engineers (IEEE)
  • ISSN: 1524-9050
  • Serial URL: http://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=6979

Subject/Index Terms

• TRT Terms: Cameras; Car following; Global Positioning System; In vehicle sensors; Navigation systems; PID controllers; Simulation; Tractor trailer combinations; Trajectory control
• Subject Areas: Data and Information Technology; Highways; Planning and Forecasting; Vehicles and Equipment;

Filing Info

• Accession Number: 01679881
• Record Type: Publication
• Files: TLIB, TRIS
• Created Date: Aug 31 2018 10:19AM