DocumentCode :
3383993
Title :
Development of a reduced size unmanned car
Author :
Bertolazzi, E. ; Biral, F. ; Bosetti, P. ; Cecco, M. ; Oboe, R. ; Zendri, F.
Author_Institution :
Dept. of Mech. & Struct. Eng., Univ. of Trento, Trento
fYear :
2008
fDate :
26-28 March 2008
Firstpage :
763
Lastpage :
770
Abstract :
This article describes the overall system design of a reduced size autonomous vehicle and focuses on the control strategy which is based on a Nonlinear Receding Horizon Control (NRHC) algorithm. The NRH planner is called by a high level manager, in the outer control loop, to solve a sequence of optimal control problems. The planned motion provide a sequence of reference set points for the faster inner control loop until a new plan is available. The lateral motion is controlled through the steering command by tracking the yaw rate reference. The longitudinal motion is controlled by means of the throttle/braking coupled command by tracking the planned forward speed profiles. The paper discusses the results of some simulation results. The project description proceeds as follows: Section II describes the system architecture from vehicle and communication to software. Section III and IV details the motion planning and control algorithms. In Section V the simulation results regarding the NRH based controller are discussed.
Keywords :
automobiles; braking; infinite horizon; mobile robots; motion control; nonlinear control systems; optimal control; path planning; velocity control; control loop; forward speed profile; lateral motion control; longitudinal motion control; motion planning; nonlinear receding horizon control; optimal control; reduced size autonomous vehicle; reduced size unmanned car; steering command; throttle-braking coupled command; yaw rate reference tracking; Communication system control; Computer architecture; Control systems; Mobile robots; Motion control; Nonlinear control systems; Optimal control; Remotely operated vehicles; Size control; Tracking;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Advanced Motion Control, 2008. AMC '08. 10th IEEE International Workshop on
Conference_Location :
Trento
Print_ISBN :
978-1-4244-1702-5
Electronic_ISBN :
978-1-4244-1703-2
Type :
conf
DOI :
10.1109/AMC.2008.4516163
Filename :
4516163
Link To Document :
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