Fig 1.
Autonomous vehicle model.
Table 1.
Dynamic parameters.
Fig 2.
Plot of the target tracking error of the autonomous vehicle.
Fig 3.
Diagram of the traditional LOS guidance strategy.
Fig 4.
Block diagram of the active disturbance rejection controller.
Fig 5.
Structural block diagram of the 2OSMD-ADRC.
Table 2.
Parameters used in this simulation of the autonomous vehicle.
Fig 6.
Comparison between the target tracking before and after the odometry compensation was applied.
Fig 7.
ESO disturbance observation curve.
Fig 8.
Tracking error diagram for before and after applying the odometry compensation.
Table 3.
Error evaluation index with and without odometry compensation.
Fig 9.
Target tracking graph for a circular trajectory.
Fig 10.
Plot comparing the circular tracking errors of the three algorithms.
Fig 11.
Plot comparing the circular angle tracking performances of the three algorithms.
Table 4.
Results for the error evaluation indices of the three strategies.
Fig 12.
Chart showing the target tracking performances of the three control algorithms under noise.
Fig 13.
Graph showing the tracking errors of the three control algorithms under noise.
Table 5.
Error evaluation indices for the three kinds of differentiators.
Fig 14.
Diagram showing the double newline target tracking for the three control methods.
Fig 15.
Diagram showing the double newline tracking errors for the three control methods.
Table 6.
Error evaluation indices for the three methods.
Table 7.
Computation time per control step for the three methods.
Fig 16.
The unmanned vehicle experiment platform.
Fig 17.
Experimental setup of the actual vehicle test.
(A) Experimental vehicle. (B) Circuit board control. (C) Power detection devices.
Fig 18.
Anti-skid driving experiment.
Fig 19.
Trajectory deviation in anti-skid driving experiment.
Fig 20.
Driving experiment under uneven load conditions.
Fig 21.
Trajectory deviation in uneven load driving experiment.
Fig 22.
Results of the straight-line driving experiment.
Fig 23.
Trajectory deviation in the straight-line driving experiment.
Table 8.
Trajectory deviations in the straight-line driving experiment.
Fig 24.
Results of the curved-path driving experiment.
Fig 25.
Trajectory deviations in the curved-path driving experiment.
Table 9.
Trajectory deviations in the curved-path driving experiment.
Fig 26.
Sharp turn driving experiment.
Fig 27.
Sharp turn driving experiment.
Table 10.
Error evaluation metrics for sharp turn driving experiment.