Korespodensi Path Tracking on Autonomous Vehicle for Severe Maneuvre.

Zulkarnain, Ali Leman (2023) Korespodensi Path Tracking on Autonomous Vehicle for Severe Maneuvre. Universitas Sriwijaya.

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Abstract

Autonomous vehicle consists self-learning process consists recognizing environment, real time localization, path planning and motion tracking control. Path tracking is an important aspect on autonomous vehicle. The main purpose path tracking is the autonomous vehicle have an ability to follow the predefined path with zero steady state error. The non-linearity of the vehicle dynamic cause some difficulties in path tracking problems. This paper proposes a path tracking control for autonomous vehicle. The controller consists of a relationship between lateral error, longitudinal velocity, the heading error and the reference yaw rate. In addition, the yaw rate controller developed based on the vehicle and tyre model. The effectiveness of the proposed controller is demonstrated by a simulation.

Item Type:	Other
Subjects:	#3 Repository of Lecturer Academic Credit Systems (TPAK) > Corresponding Author
Divisions:	03-Faculty of Engineering > 21201-Mechanical Engineering (S1)
Depositing User:	Zulkarnain Zulkarnain
Date Deposited:	17 May 2023 08:20
Last Modified:	17 May 2023 08:20
URI:	http://repository.unsri.ac.id/id/eprint/103658

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