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The road topography can significantly affect the tyre vertical load and the vehicle dynamics response in off-road scenarios, which will greatly impact the autonomous vehicle's stability, trajectory planning and trajectory tracking performance. However, the road topography information is less focused in current literature. This study focuses on the local trajectory planning and tracking method by assuming waypoints along the global route are already available. First an innovative spatiotemporal-based local trajectory planning algorithm is proposed to select the desired trajectory with minimum road gradient and bank angle. After that, a 8 degrees-of-freedom (DOF) vehicle dynamics model is proposed to better present the dynamics performance. Finally a double-layer control strategy for trajectory tracking is designed to follow the desired planned trajectory. It is proved by simulations results that the peak bank angle and road gradient could be avoided, and the trajectory tracking per
Autonomous-vehicle
Bank-angle
Dynamics-model
Off-road
Oad-slope
Oad-topography
Spatiotemporal
Trajectory-planning
Trajectory-tracking
Abstract
In this paper, we investigate the problem of trajectory tracking control for marine surface vehicles (MSVs), which is subject to dynamic uncertainties, external disturbances and unmeasurable velocities. To recover the unmeasurable velocities, a novel adaptive neural network (NN) state observer is constructed. To guarantee the transient and steady-state tracking performance, a novel nonlinear transformation method is proposed by employing a tracking error transformation together with a newly constructed performance function, which is featured by user-defined settling time and tracking control accuracy. With the aid of the state observer and the nonlinear transformation method, with the combination of the adaptive NN technique and vector-backstepping design tool, an adaptive neural output feedback trajectory tracking control scheme with predefined performance is developed Referring to our developed control scheme, uncertainties can be reconstructed only by utilizing the posit
Adaptive-neural-network
Adaptive-systems
Rtificial-neural-networks
Arine-surface-vehicle
Observers
Output-feedback
Redefined-performance
Trajectory-tracking
Ransient-analysis
Uncertainty
Vehicle-dynamics
it takes months sometimes years before we get to the bottom of things and sometimes like you mentioned at the outset there might be a lot that we just never find out. let s get to another question. tom tweets i m confused with all the electronics available as to why they don t have a location pinpointed now within a few square miles. well that s a great question. and there is equipment on board the airplane that should have given trajectory tracking even primary radar. you think of all the passenger cell phones. cell phone would not have worked at that altitude. but the problem is you are at such a high altitude the airplane is still moving. if it did get upset by some form of turbulence it s going to be it can be almost anywhere and it s a big area. even though we say it s mauler than when malaysia 370 disappear it s still a big area. phil wanted to know if we have satellites in space that can read license pilates on cars
Question
Things
Lot
Bottom
Tom-foreman
Outset
Airplane
Radar
Equipment
Location
Trajectory-tracking
Electronics
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