碩士 / 國立東華大學 / 電機工程學系 / 96 / The purpose of this thesis is to develop an Automatic Control of Navigation Systems for Vehicles (ACNSV). The thesis regards the mathematical model of Car-Like Mobil Robot as the vehicle dynamics behavior to develop ACNSV. ACNSV controls the front wheel’s direction and the driving speed of vehicle via two actual control values, one is the degree variation of the front wheel and the other is the acceleration variation of the vehicle versus time respectively. In the thesis, ACNSV constructs a precise and optimized vehicle’s automatic navigation strategy and meets the requirement of system closed-loop stability.
The purpose of ACNSV algorithm is to find the actual control variables of the vehicle and consist of two parts. First, input-output linearization is applied to transform non-linear dynamic model of vehicle to a linear system through states transformation. Contained within the linear system is a set of pseudo control variables; there is a transformation relationship through the decoupling matrix between the vehicle’s actual control variable and the pseudo control variable. Second, a pseudo control is generated by designing a state feedback controller of the linear system. At once the best feedback gains are found by the particle swarm optimizer (PSO), pseudo control could be transformed to the actual control applied to the vehicle through a decoupling matrix.
This thesis uses Matlab as the simulation environment, the simulation results show that the proposed method makes vehicle steering in all kinds of crooked change road conditions. The ACNSV algorithm can adjust the vehicle’s trajectory to the road trend and can provide a stable driving strategy for driver. Thus the proposed method can reduce the traffic accident and promote the security of driving.
| Identifer | oai:union.ndltd.org:TW/096NDHU5442004 |
| Date | January 2008 |
| Creators | Mei-Ying Lu, 盧美櫻 |
| Contributors | Tsung-Ying Sun, 孫宗瀛 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 90 |
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