인문학
사회과학
자연과학
공학
의약학
농수해양학
예술체육학
복합학
DBpia AI
AI 에이전트
AI 아이디어
AI 리더
AI 뷰어
Citeasy
크롬 서지관리 다운로드
지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
초록·키워드
This paper presents a steering control strategy for the establishment of vehicle-based autonomous cooperative transportation systems (CTSs). The concept of a CTS for vehicle-based platforms using the Ackermann steering mechanism remains to be fully understood. The main function of the vehicle-based CTS considered herein is to transport large cargo while keeping multiple vehicles spaced apart from each other. Such synchronized driving requires appropriate control of the steering and acceleration of the vehicles, and this study focuses on the steering aspect. In a synchronized vehicle cluster, one vehicle is arbitrarily designated as the master vehicle while the other vehicles represent slave vehicles; based on master–slave relationships, the slave vehicles follow the master vehicle at constant gaps. As an example, two vehicles are assumed to be driving parallelly with a fixed lateral offset. A virtual vehicle trajectory with a constant lateral offset from the master vehicle is generated. The steering control system corrects the steering angle of the slave vehicle to reduce the position and yaw errors with respect to the virtual vehicle trajectory. An error vector comprising the position and yaw errors between the slave vehicle and the virtual vehicle is defined. The second derivative of this error vector is obtained kinematically, and the error dynamic equation based on vehicle dynamics is described using a bilinear control system. A steering control system based on error-state feedback is designed to allow the errors to converge to zero. The control performance is verified via computer simulations.
본문·목차
인공지능 문자 인식 모델을 통해 추출된 텍스트로, 일부 오타나 오류가 포함될 수 있으나 지속적으로 개선 중입니다.
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