基于功能行为集成的自主车研究-车辆工程专业论文.docxVIP

THE THE RESEARCH OF AN AUTONOMOUS VEHICLE BASED ON INTEGR ATION OF FUNCTION AND BE】HAvl0R ABSl、RACT In recent years，many people have researched on Autonomous Vehicle in many aspects．The emphasis of their research is contr01 of bodv of AutonomousⅥ柚cle and path planning．Some aims are achieved． Now main problem iS the absence of flexibility and self-determination． Aimed at the drawbacks，I take the car-like Autonomous Vehicle as my research objecL and propose some control methods such as fuzzy control、FNN(Fuzzy Neural Net)control and SO On．And these methods a11 have 900d performances through simulation study．A novel track contr01 method based on Regress Algorithm is present in this paper． Simulations illustrate the effectiveness of the proposed method．We developed a three-wheel autonomous vehicle which has a metal flame and two driven wheels． And we can go further study on it such as integration of navigation by vision．The autonomous vehicle Can Walk in a line and turn under the control of fuzzy control techniques．The experiment results do shOW self-study character to some extent．And at Iast an new control architecture based on integration of function an behavior iS proposed in this PaDer．This architecture has the virtues of both two methods．This architecture endows the Autonomous Vehicle with the ability of learning，adaptation，quick reactive speed，also、Ⅳim the ability of achieving giving task． Key words：Autonomous Vehicle Control Simulation Study Integration 独创性声明本人声明所呈交的学位论文是本人在导师指导下进行的研究工作及取得的 独创性声明 本人声明所呈交的学位论文是本人在导师指导下进行的研究工作及取得的 研究成果。据我所知，除了文中特别加以标注和致谢的地方外，论文中不包含 其他人己经发表或撰写过的研究成果，也不包含为获得佥目墨王些盍堂或其 他教育机构的学位或证书而使用过的材料。与我一同工作的同志对本研究所做 的任何贡献均已在论文中作了明确的说明并表示谢意。 学位论文作者签名：藕．惫专 签字日期： 哆年#月萝日 学位论文版权使用授权书 本学位论文作者完全了解盒目墨互些盔堂有关保留、使用学位论文的规 定，有权保留并向国家有关部门或机构送交论文的复印件和磁盘，允许论文被 查阅和借阅。本人授权金星王、业盍堂可以将学位论文的全部或部分内容编 入有关数据库进行检索，可以采用影印、缩印或扫描等复制手段保存、汇编学 位论文。 (保密的学位论文在解密后适用本授权书) 学位论文作者签名：藉嚷} 导师签名：7孪自最 签字日期： 以年f月F日 签字日期：哆年计谤日 学位论文作者毕业后去向 工作单位： 电话： 通讯地址： 邮编： 致谢在这里．我首先要感谢我的导师陈无畏教授，王启瑞副教授对我的课题