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Preview Control with Dynamic Constraints for Autonomous Vehicles

Rui Li, Qi Ouyang, Yue Cui, Yang Jin
2021 Sensors  
In this paper, a preview theory-based steering control approach considering vehicle dynamic constraints is presented.  ...  The simulated annealing optimization algorithm for preview length is conducted to improve the adaptability of the controller to varying velocities and road adhesion coefficients.  ...  This paper is concerned with the path tracking control of autonomous vehicles, which aims at ensuring the vehicle to accurately follow a reference trajectory and maintain stability under varying environmental  ... 
doi:10.3390/s21155155 fatcat:rs2q6tm6drddxlngpw5fk6fov4

Avoiding steering actuator saturation in off-road mobile robot path tracking via predictive velocity control

Oliver Hach, Roland Lenain, Benoit Thuilot, Philippe Martinet
2011 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems  
In mobile robot path tracking applications, an autonomous vehicle is steered to stay as close as possible to a desired path.  ...  of the system, have a major influence on the tracking control performance.  ...  In the linear kinematic case, a path is then "kinematically admissible" if: c max < δmax /L (10) In order to incorporate the side-slip of a vehicle, (7) is reorganized (again assuming c =θ/v) to define  ... 
doi:10.1109/iros.2011.6095007 dblp:conf/iros/HachLTM11 fatcat:tzhfuwkos5faff4yaf2k3yx6ha

Avoiding steering actuator saturation in off-road mobile robot path tracking via predictive velocity control

O. Hach, R. Lenain, B. Thuilot, P. Martinet
2011 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems  
In mobile robot path tracking applications, an autonomous vehicle is steered to stay as close as possible to a desired path.  ...  of the system, have a major influence on the tracking control performance.  ...  In the linear kinematic case, a path is then "kinematically admissible" if: c max < δmax /L (10) In order to incorporate the side-slip of a vehicle, (7) is reorganized (again assuming c =θ/v) to define  ... 
doi:10.1109/iros.2011.6048699 fatcat:feqq7sxe6jaxfkqxhbww4xoybu

Receding horizon estimation and control with structured noise blocking for mobile robot slip compensation [article]

Nathan Wallace, He Kong, Andrew Hill, Salah Sukkarieh
2018 arXiv   pre-print
Receding horizon estimation (RHE) provides a powerful framework for constrained estimation, and when combined with receding horizon control (RHC), yields an adaptive optimisation-based control method.  ...  Online estimation of the wheel-terrain slip characteristics is essential for generating the accurate control predictions necessary for tracking trajectories in off-road environments.  ...  This model is transformed into a chain form, and a non-linear adaptive control law embedded with an RHC algorithm to avoid path tracking overshoot is derived and shown experimentally to yield tracking  ... 
arXiv:1810.04366v1 fatcat:zgnoosurmfb5lbq5lx6sxdltya

A Two-Layer Controller for Lateral Path Tracking Control of Autonomous Vehicles

Zhiwei He, Linzhen Nie, Zhishuai Yin, Song Huang
2020 Sensors  
This paper presents a two-layer controller for accurate and robust lateral path tracking control of highly automated vehicles.  ...  path tracking process, and is robust to dynamic changes in vehicle velocities and road adhesion coefficients.  ...  The aim of designing the path tracking controller is to ensure that the vehicle follows reference paths accurately and robustly in a timely manner under varying environmental and vehicular conditions on  ... 
doi:10.3390/s20133689 pmid:32630197 pmcid:PMC7374400 fatcat:j3wfxarjx5aenank5nku5kuuty

Learned and Controlled Autonomous Robotic Exploration in an Extreme, Unknown Environment [article]

Frances Zhu, D. Sawyer Elliott, ZhiDi Yang, Haoyuan Zheng
2020 arXiv   pre-print
For these applications, to ensure the robot can predictably locomote, the interaction between the terrain and vehicle, terramechanics, must be incorporated into the model of the robot's locomotion.  ...  If the models were of interpretable form, designers could use the learned models to inform vehicle and/or control design changes to refine the robot architecture for future applications.  ...  The gain matrix maps the path intersection angle, error in velocity, and the estimated slope of the surface to the control actions , given in Eq. (16).  ... 
arXiv:2004.00749v1 fatcat:ydj3vi62z5egjmlubhtyzjt6ie

MME-EKF-Based Path-Tracking Control of Autonomous Vehicles Considering Input Saturation

Chuan Hu, Zhenfeng Wang, Hamid Taghavifar, Jing Na, Yechen Qin, Jinghua Guo, Chongfeng Wei
2019 IEEE Transactions on Vehicular Technology  
The lateral velocity and roll angle are estimated with the measurement of the yaw rate and roll rate.  ...  This paper investigates the path-tracking control issue for autonomous ground vehicles with the integral sliding mode control (ISMC) considering the transient performance improvement.  ...  Effective path-tracking feedback control highly depends on the accurate acquisitions of vehicle states.  ... 
doi:10.1109/tvt.2019.2907696 fatcat:txfhteitj5d3rnkkpo5fuc422y

Experimental validation of geometric path following control with demand supervision on an over-actuated robotic vehicle

Peter Ritzer, Christoph Winter, Jonathan Brembeck
2016 2016 IEEE Intelligent Vehicles Symposium (IV)  
This work describes the development and experimental validation of a geometric path following control strategy with demand supervision applied to an over-actuated robotic vehicle, the ROboMObil [1].  ...  The proposed method enables the ROboMObil to automatically follow paths while the driver is free to control the velocity along the path.  ...  ACKNOWLEDGMENT The authors express their gratitude to the ROboMObil team and the head of the institute Johann Bals for their support.  ... 
doi:10.1109/ivs.2016.7535439 dblp:conf/ivs/RitzerWB16 fatcat:7kahjco6avcllka5445sgiwcda

MODIFIED HAMILTONIAN ALGORITHM FOR OPTIMAL LANE CHANGE WITH APPLICATION TO COLLISION AVOIDANCE

Yangyan Gao, Mathias Lidberg, Timothy Gordon
2015 MM Science Journal  
For collision avoidance, a typical control approach is to: (a) define a reference geometric path that avoids collision; (b) apply low-level control to perform path following.  ...  First, it is typically unknown whether a predefined reference path is feasible or over-conservative. Secondly, the control scheme is not well suited to avoiding a moving object, e.g. another vehicle.  ...  Fig. 6 shows the path of the vehicle, Fig. 7 gives the accelerations in vehicle coordinates and finally Fig. 8 presents the effect of adapting  to track the desired yaw moment.  ... 
doi:10.17973/mmsj.2015_03_201508 fatcat:7bbpwp2a3bazpiz5xargefmfki

Online Robust MPC based Emergency Maneuvering System for Autonomous Vehicles [article]

Vivek Bithar, Punit Tulpule, Shawn Midlam-Mohler
2021 arXiv   pre-print
The novelty of this framework lies in the robust integration of path planning and path following tasks of autonomous vehicles.  ...  Nonlinear Robust Model Predictive Control (RMPC) provides a very promising solution to the problem of automatic emergency maneuvering, which is capable of handling multiple possibly conflicting objectives  ...  In order to ensure the stability of the vehicle at a given longitudinal speed, the rear tire slip angle is constrained to the linear region of tire force curve.  ... 
arXiv:2109.11959v2 fatcat:w5c6pyvn35gl3mafmsma4drhga

Nonlinear Constrained Moving Horizon Estimation Applied to Vehicle Position Estimation

Jonathan Brembeck
2019 Sensors  
In this application, a vehicle state observer with a focus on the estimation of the quantities position, yaw angle, velocity, and yaw rate, which are necessary for a path following control for an autonomous  ...  The design of high–performance state estimators for future autonomous vehicles constitutes a challenging task, because of the rising complexity and demand for operational safety.  ...  Here, tests of an advanced version of the interactive vehicle path following control (PFC) [2, 3] have been performed. In the top left of Figure 1 , a portrait of the testing track is shown.  ... 
doi:10.3390/s19102276 fatcat:rl6k6foxcve5tefgtwkhzwdize

Neural network vehicle models for high-performance automated driving

Nathan A. Spielberg, Matthew Brown, Nitin R. Kapania, John C. Kegelman, J. Christian Gerdes
2019 Science Robotics  
We show that a feedforward-feedback control structure incorporating a simple physics-based model can be used to track a path up to the friction limits of the vehicle with performance comparable with a  ...  Automated vehicles navigate through their environment by first planning and subsequently following a safe trajectory.  ...  The objective of the steering feedforward is to provide an estimate of the steer angle required to traverse a path with a known path curvature and velocity profile.  ... 
doi:10.1126/scirobotics.aaw1975 pmid:33137751 fatcat:dk55fitiurg57o3fn6lishpuda

Guided Navigation Control of an Unmanned Ground Vehicle using Global Positioning Systems and Inertial Navigation Systems

Pooja Velaskar, Alvaro Vargas-Clara, Osama Jameel, Sangram Redkar
2014 International Journal of Electrical and Computer Engineering (IJECE)  
This paper demonstrates the use of Global Positioning System (GPS) and Inertial Navigation System (INS) in order to develop an Unmanned Ground Vehicle (UGV) devised to perform a wide variety of outdoor  ...  Furthermore, system stability and ideal PID (Proportional, Integral and Derivative) values are determined using bicycle modeling analysis to achieve better estimates and control of the UGV.  ...  The vehicle control can be separated into lateral and longitudinal controls. Here, we focus on the lateral control to follow a trajectory in terms of heading and path control.  ... 
doi:10.11591/ijece.v4i3.5183 fatcat:hechavfqg5bc7aezgb6dnix3iu

A Unified Perturbative Dynamics Approach to Online Vehicle Model Identification [chapter]

Neal Seegmiller, Forrest Rogers-Marcovitz, Greg Miller, Alonzo Kelly
2016 Springer Tracts in Advanced Robotics  
current slip.  ...  In departure from much previous work, and in order to directly support adaptive and predictive controllers, we concentrate on the problem of predicting candidate trajectories rather than measuring the  ...  Government support under and awarded by the Army Research Office (W911NF-09-1-0557), the Army Research Laboratory (W911NF-10-2-0016), and by the DoD, Air Force Office of Scientific Research, National Defense  ... 
doi:10.1007/978-3-319-29363-9_33 fatcat:hxlr2lt34rfifkql6qk4mbabti

Robust Modeling and Controls for Racing on the Edge [article]

Joshua Spisak, Andrew Saba, Nayana Suvarna, Brian Mao, Chuan Tian Zhang, Chris Chang, Sebastian Scherer, Deva Ramanan
2022 arXiv   pre-print
In this paper, we present a baseline controls stack for an ARV capable of operating safely up to 140mph.  ...  Similar challenges are posed in autonomous racing, where a software stack, instead of a human driver, interacts within a multi-agent environment.  ...  Finally, thank you to the entire MIT-Pitt-RW Indy Autonomous Challenge team and team sponsors for supporting the deployment of this work.  ... 
arXiv:2205.10841v1 fatcat:irpv7ezu2jfefgqj27mzon5gte
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