| 智能车辆自主导航神经网络控制器设计 |
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| 引用本文： | 金立生,王荣本,纪寿文,郭烈.智能车辆自主导航神经网络控制器设计[J].农业机械学报,2005,36(10):30-33. |
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| 作者姓名： | 金立生 王荣本 纪寿文 郭烈 |
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| 作者单位： | [1]吉林大学交通学院讲师博士,长春市130025 [2]吉林大学交通学院教授、博士生导师,长春市130025 [3]清华大学汽车系博士后,北京市100084 [4]吉林大学交通学院博士生,北京市100084 |
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| 基金项目： | 国家自然科学基金资助项目（项目编号：50175046）和吉林大学青年教师基金资助项目 |
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| 摘 要： | 针对自主设计、制造的智能车辆，提出了设计新的神经网络控制器来实现对车辆导航路径的自主跟踪控制。分析了神经网络导向控制器的设计方法，选择了神经网络导向控制器的输入、输出变量，并建立了神经网络导向控制器的结构。在此基础上，采用人工驾车采集的数据对控制器进行了训练。完成了计算机仿真和实际路径跟踪控制试验，试验结果表明该神经网络控制器能够很好地实现对导航路径的自主跟踪控制。
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| 关 键 词： | 智能车辆 视觉导航 神经网络控制器 |
| 收稿时间： | 07 27 2004 12:00AM |
| 修稿时间： | 2004年7月27日 |
Neural Network Controller Design for Autonomous Navigation of Intelligent Vehicle Based on Vision |
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| Jin LiSheng;Wang RongBen;Ji ShouWen;Guo Lie.Neural Network Controller Design for Autonomous Navigation of Intelligent Vehicle Based on Vision[J].Transactions of the Chinese Society of Agricultural Machinery,2005,36(10):30-33. |
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| Authors: | Jin LiSheng;Wang RongBen;Ji ShouWen;Guo Lie |
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| Institution: | 1.Jilin University 2.Tsinghua University |
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| Abstract: | In order to control the vehicle autonomous tracking the navigation lane accurately, the neural network navigation controller for our indigenous design and manufactured intelligent vehicle has been successfully developed. The design method of the new controller was analyzed, the input and output variables of the neural network navigation controller were selected, the structure of the controller was also established. Then, the controller was trained by using the data tb, at had been acquired by manual driving. At last, computer simulation and practical lane tracking control experiments were processed according to this new method and the results showed that this method could control the vehicle autonomous tracking the navigation lane accurately. |
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| Keywords: | Intelligent vehicle Vision navigation Neural network controller |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
