제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 2005년도 ICCAS
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- Pages.1014-1019
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- 2005
Neural Network Control Technique for Automatic Four Wheel Steered Highway Snowplow Robotic Vehicles
- Jung, Seul (Department of Mechatronics Engineering, Chungnam National University) ;
- Lasky, Ty (Advanced Highway Maintenance and Construction Technology Center, University of California) ;
- Hsia, T.C. (Department of Electrical & Computer Engineering, University of California)
- 발행 : 2005.06.02
초록
In this paper, a neural network technique for automatic steering control of a four wheel drive autonomous highway snowplow vehicle is presented. Controllers are designed by the LQR method based on the vehicle model. Then, neural network is used as an auxiliary controller to minimize lateral tracking error under the presence of load. Simulation studies of LQR control and neural network control are conducted for the vehicle model under a virtual snowplowing situation. Tracking performances are also compared for two and four wheeled steering vehicles.