@inproceedings{e6c8e77100b44338afe0538d9854aa61,
title = "Dynamic model and predictive control of electric driven eight-wheeled differential steering autonomous vehicle",
abstract = "This paper presents the dynamic modeling and predictive control method and the controller design of an electric driven eight-wheeled differential steering autonomous vehicle. First, the dynamic model of autonomous vehicle is built. Then, the model predictive control method is introduced. Consequently, the path tracking controller of autonomous vehicle is designed on the basis of dynamic model and predictive control method. Finally, the real vehicle experiment is performed at a middle speed up to 60km/h on a two kilometers long highway. The experimental results show a mean lateral error less than 0.3m and heading error less than 2 deg when follow the given refer path. The experiment also proofs the controller has certain anti-interference ability, which demonstrates the effectiveness of proposed control method and autonomous vehicle path tracking controller.",
keywords = "Autonomous vehicle, Differential steering vehicle, Model predictive control, Path tracking, Vehicle dynamic, Wheel based vehicle",
author = "Yaogang Zhao and Gang Tao and Jiangnan Li and Xi Zhang and Jianwei Gong",
note = "Publisher Copyright: {\textcopyright} 2020 IEEE.; 3rd International Conference on Unmanned Systems, ICUS 2020 ; Conference date: 27-11-2020 Through 28-11-2020",
year = "2020",
month = nov,
day = "27",
doi = "10.1109/ICUS50048.2020.9274978",
language = "English",
series = "Proceedings of 2020 3rd International Conference on Unmanned Systems, ICUS 2020",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "412--417",
booktitle = "Proceedings of 2020 3rd International Conference on Unmanned Systems, ICUS 2020",
address = "United States",
}