Applied Guidance Methodologies for Off-road Vehicles

1. Auflage 2020
ISBN: 978-3-030-42358-2
Verlag: Springer International Publishing

Buch, Englisch, Band 138, 137 Seiten, Format (B × H): 160 mm x 241 mm, Gewicht: 401 g

Reihe: Springer Tracts in Advanced Robotics

This book provides methodologies for designing and implementing guidance algorithms for autonomous vehicles. These algorithms make important decision regarding how to steer and drive a ground vehicle in order to safely stay on an intended path, thereby making the vehicle driverless. The design tools provided in this book enable the reader to develop highly practical and real-world implementable guidance algorithms that will deliver high-accuracy driving for field vehicles. (They are equally applicable for on-road vehicles.) The book covers a variety of vehicle types, including wheeled vehicles, tracked vehicles, wheeled and tracked vehicles towing trailers, and four-wheel-steer and four-wheel-drive vehicles. It also covers active trailers that are driven and steered. Vehicles used in agriculture, mining and road construction are subjected to unpredictable and significant disturbances. The robust control methodologies presented can successfully compensatefor these disturbances, as confirmed by the experimental results presented. Though the majority of the methodologies presented are based on sliding-mode controllers, other robust control methodologies are also discussed. To help the reader decide which controller is best suited for his/her choice of vehicle, experimental results are presented in a comparative format.

Zielgruppe

Research

Autoren/Hrsg.

Katupitiya, Jayantha

Taghia, Javad

Fachgebiete

• Technische Wissenschaften Technik Allgemein Mess- und Automatisierungstechnik
• Mathematik | Informatik EDV | Informatik Informatik Künstliche Intelligenz

Inhaltsverzeichnis

Introduction.- Modelling Vehicle Systems.- Offset Models of Vehicles.- Design of Controllers.- Implementation of Controllers.- Conclusion.