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On-Line Path Planning for an Articulated Vehicle based on Model Predictive Control
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0003-0126-1897
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0002-0079-9049
2013 (English)In: 2013 IEEE Multi-conference on Systems and Control (Conference on Control Applications), Hyderabad, India, August 28-30, 2013, 2013, 772-777 p.Conference paper, Published paper (Refereed)
Abstract [en]

In this article, a novel on–line path planning algorithm for an articulated vehicle, moving in a partially known and sensory based reconstructed environment, andrelying on Model Predictive Control will be presented. The proposed algorithm belongs to the family of bug like path planning algorithms and has the capability to take under consideration the real dynamics of the articulated vehicle.Based on: a) an a prior knowledge of the current and the goal points, and b) a partial sensory based awareness of the surrounding environment, the algorithm is able to tune online the articulated steering angle in order to drive the front and the rear parts of the vehicle from avoiding collision with obstacles, while converging to the goal point. The proposed path planning algorithm is able to produce on–line the next reference way-point, solving the local and sub-optimal problem, while in the sequel a Model Predictive Controller is being utilized forcreating the proper control signal, the rate of the articulated angle based on an error dynamics kinematic model of the vehicle. Multiple simulation results are being presented that prove the efficiency of the suggested scheme.

Place, publisher, year, edition, pages
2013. 772-777 p.
Keyword [en]
Technology - Electrical engineering, electronics and photonics
Keyword [sv]
Teknikvetenskap - Elektroteknik, elektronik och fotonik
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
URN: urn:nbn:se:ltu:diva-37834Local ID: bfae4c93-eb74-4bd2-b109-faf272a62b57OAI: oai:DiVA.org:ltu-37834DiVA: diva2:1011332
Conference
IEEE Multi-Conference on Systems and Control : 28/08/2013 - 30/08/2013
Note
Godkänd; 2013; 20130515 (thanay)Available from: 2016-10-03 Created: 2016-10-03 Last updated: 2017-11-25Bibliographically approved

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Nayl, ThakerNikolakopoulos, GeorgeGustafsson, Thomas
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CiteExportLink to record
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Citation style
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