Flow-field guided steering control for rigid autonomous ground vehicles in low-speed manoeuvring
| Autor: | Mengxuan Song, Nan Wang, Timothy Gordon, Jun Wang |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Engineering Field (physics) business.industry Mechanical Engineering Boundary (topology) Rigidity (psychology) 02 engineering and technology Computational fluid dynamics Motion control H300 Mechanical Engineering H330 Automotive Engineering 020901 industrial engineering & automation Flow (mathematics) Control theory Obstacle Automotive Engineering 0202 electrical engineering electronic engineering information engineering 020201 artificial intelligence & image processing Outflow Safety Risk Reliability and Quality business H660 Control Systems |
| Zdroj: | Vehicle System Dynamics. 57:1090-1107 |
| ISSN: | 1744-5159 0042-3114 |
| DOI: | 10.1080/00423114.2018.1512715 |
| Popis: | This paper studies the low-speed manoeuvring problem for autono-mous ground vehicles operating in complex static environments. Making use of the intrinsic property of a fluid to naturally find its way to an outflow destination, a novel guidance method is proposed. In this approach, a reference flow field is calculated numerically through Computational Fluid Dynamics, based on which both the reference path topology and the steering reference to achieve the path are derived in a single process. Steering control considers three constraints: obstacle and boundary avoidance, rigidity of the vehicle, plus the non-holonomic velocity constraints due to the steering system. The influences of the parameters used during the flow field simulation and the control algorithm are discussed through numerical cases. A divergency field is defined to evaluate the quality of the flow field in guiding the vehicle. This is used to identify any problematic branching features of the flow, and control is adapted in the neighbourhood of such branching features to resolve possible ambiguities in the control reference. Results demonstrate the effectiveness of the method in finding smooth and feasible motion paths, even in complex environments |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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