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当前位置: 首页 > 文章 > 智能车辆自主导航神经网络控制器设计 农业机械学报 2005,36 (10) 36-39
Position: Home > Articles > Neural Network Controller Design for Autonomous Navigation of Intelligent Vehicle Based on Vision Transactions of the Chinese Society for Agricultural Machinery 2005,36 (10) 36-39

智能车辆自主导航神经网络控制器设计

作  者：
金立生;王荣本;纪寿文;郭烈
单  位：
吉林大学交通学院;清华大学汽车系
关键词：
智能车辆;视觉导航;神经网络控制器
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。
译  名：
Neural Network Controller Design for Autonomous Navigation of Intelligent Vehicle Based on Vision
作  者：
Jin Lisheng1 Wang Rongben1 Ji Shouwen2 Guo Lie1 (1.Jilin University 2.Tsinghua University)
关键词：
Intelligent vehicle, Vision navigation, Neural network controller
摘  要：
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 that 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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