Cooperative path-planning and tracking controller evaluation using vehicle models of varying complexities
| Autor: | Husain Kanchwala, Icaro Bezerra Viana, Nabil Aouf |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
050210 logistics & transportation
business.product_category Computer science TK Mechanical Engineering 05 social sciences 020302 automobile design & engineering Control engineering 02 engineering and technology Dynamic modelling Tracking (particle physics) Computer Science::Robotics 0203 mechanical engineering Distributed model predictive control Control theory 0502 economics and business Electric vehicle TJ Quadratic programming Motion planning business Intelligent control |
| Zdroj: | Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science. 235:2877-2896 |
| ISSN: | 2041-2983 0954-4062 |
| Popis: | This paper discusses cooperative path-planning and tracking controller for autonomous vehicles using a distributed model predictive control approach. Mixed-integer quadratic programming approach is used for optimal trajectory generation using a linear model predictive control for path-tracking. Cooperative behaviour is introduced by broadcasting the planned trajectories of two connected automated vehicles. The controller generates steering and torque inputs. The steering and drive motor actuator constraints are incorporated in the control law. Computational simulations are performed to evaluate the controller for vehicle models of varying complexities. A 12-degrees-of-freedom vehicle model is developed and is subsequently linearised to be used as the plant model for the linearised model predictive control-based tracking controller. The model behaviour is compared against the kinematic, bicycle and the sophisticated high-fidelity multi-body dynamics CarSim model of the vehicle. Vehicle trajectories used for tracking are longitudinal and lateral positions, velocities and yaw rate. A cooperative obstacle avoidance manoeuvre is performed at different speeds using a co-simulation between the controller model in Simulink and the high-fidelity vehicle model in CarSim. The simulation results demonstrate the effectiveness of the proposed method. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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