scholarly journals Automatic Steering of Farm Vehicles Using GPS

2015 ◽  
pp. 767-777 ◽  
Author(s):  
M. O'Connor ◽  
T. Bell ◽  
G. Elkaim ◽  
B. Parkinson
Keyword(s):  
Automatic Steering ◽  
Farm Vehicles

A novel path tracking approach considering safety of the intended functionality for autonomous vehicles

2021 ◽  
pp. 095440702110205
Author(s):  
Huiran Wang ◽  
Qidong Wang ◽  
Wuwei Chen ◽  
Linfeng Zhao ◽  
Dongkui Tan
Keyword(s):  
Autonomous Vehicles ◽  
Autonomous Vehicle ◽  
Coordinated Control ◽  
Steering System ◽  
Front Wheel ◽  
Path Tracking ◽  
Hierarchical Architecture ◽  
Automatic Steering ◽  
The Stability ◽  
Control Layer

To reduce the adverse effect of the functional insufficiency of the steering system on the accuracy of path tracking, a path tracking approach considering safety of the intended functionality is proposed by coordinating automatic steering and differential braking in this paper. The proposed method adopts a hierarchical architecture consisting of a coordinated control layer and an execution control layer. In coordinated control layer, an extension controller considering functional insufficiency of the steering system, tire force characteristics and vehicle driving stability is proposed to determine the weight coefficients of automatic steering and the differential braking, and a model predictive controller is designed to calculate the desired front wheel angle and additional yaw moment. In execution control layer, a H∞ steering angle controller considering external disturbances and parameter uncertainty is designed to track desired front wheel angle, and a braking force distribution module is used to determine the wheel cylinder pressure of the controlled wheels. Both simulation and experiment results show that the proposed method can overcome the functional insufficiency of the steering system and improve the accuracy of path tracking while maintaining the stability of the autonomous vehicle.

Application of Internal Model Control to the Automatic Steering of a Ship

1989 ◽  
pp. 298-320
Author(s):  
C. Castel ◽  
J. P. Chretien ◽  
G. Favier ◽  
M. Fliess ◽  
A. J. Fossard ◽  
...  
Keyword(s):  
Internal Model ◽  
Internal Model Control ◽  
Model Control ◽  
Automatic Steering

scholarly journals Automatic Steering of Fork Lift Truck

1975 ◽  
Vol 41 (342) ◽  
pp. 475-483 ◽  
Author(s):  
Yoshinori ITo ◽  
Toshiyuki SARUMARU ◽  
Naoto IKEYA
Keyword(s):  
Automatic Steering
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