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Model Predictive Control Based Path Tracking and Velocity Control with Rollover Prevention Function for Autonomous Electric Road Sweeper
2022
Energies
This paper presents a model predictive control (MPC)-based algorithm for rollover prevention of an autonomous electric road sweeper (AERS). For AERS, the basic function of autonomous driving is a path- and velocity-tracking control needed to make a vehicle follow given path and velocity profiles. On the other, the AERS adopts an articulated frame steering (AFS) mechanism which can make cornering behavior agile. Moreover, the tread of the AERS is narrow, and the height of the mass center is
doi:10.3390/en15030984
fatcat:d33le6ia75dirfifcd264jopoe