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《Journal of Chongqing University of Technology(Natural Science)》 2015-11
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Research on Trajectory Tracking Control of Self-Driving Vehicle Based on Simulated Annealing Algorithm

WANG Hao;LIN Fen;ZHANG Yao-wen;Department of Automotive Engineering,Nanjing University of Aeronautics and Astronautics;  
Lateral control based on simulated annealing( SA) algorithm was investigated for trajectory tracking of self-driving vehicle. Firstly,the linear discrete kinematics model was established. Based on this model,considering position and pose error,the objective function and constraint condition were designed,and simulated annealing( SA) algorithm was used for optimization problems and obtaining the optimal control variables and the trajectory tracking control was achieved. In the condition of low speed and combined trajectory,the simulation results show that in different speeds,the control strategy guarantees that the vehicle can follow the reference trajectory stably and rapidly with good effect,and the position error can be kept within 0. 05 m.
【Fund】: 国家自然科学基金资助项目(10902049);; 江苏省博士后科研资助计划项目(1302020C);; 中央高校基本科研业务费专项资金资助项目(NS2015015);; 南京航空航天大学研究生创新基地(实验室)开放基金资助项目(kfjj201404)
【CateGory Index】: TP18;TP273
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