Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Effect of Kinematic Parameters on MPC based On-line Motion Planning for an Articulated Vehicle
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
2015 (English)In: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 70, 16-24 p.Article in journal (Refereed) Published
Abstract [en]

The aim of this article is to analyze the effect of kinematic parameters on a novel proposed on-line motion planning algorithm for an articulated vehicle based on Model Predictive Control. The kinematic parameters that are going to be investigated are the vehicle's velocity, the maximum allowable change in the articulated steering angle, the safety distance from the obstacles and the total number of obstacles in the operating arena. The proposed modified path planning algorithm for the articulated vehicle belongs to the family of Bug-Like algorithms and is able to take under consideration, the mechanical and physical constraints of the articulated vehicle, as well as its full kinematic model. During the on-line motion planning algorithm, the MPC controller controls the lateral motion of the vehicle, through the rate of the articulation angle, while driving it accurately and safely over the on-line formulated desired path. The efficiency of the proposed combined path planning and control scheme is being evaluated under numerous simulated test cases, while exhaustive simulations have been made for analyzing the dependency of the proposed framework on the kinematic parameters.

Place, publisher, year, edition, pages
2015. Vol. 70, 16-24 p.
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
URN: urn:nbn:se:ltu:diva-7007DOI: 10.1016/j.robot.2015.04.005Local ID: 556b82ed-1687-4ba5-8ea4-44008afd0e64OAI: oai:DiVA.org:ltu-7007DiVA: diva2:979893
Note
Validerad; 2015; Nivå 2; 20150402 (thanay)Available from: 2016-09-29 Created: 2016-09-29 Last updated: 2017-11-24Bibliographically approved

Open Access in DiVA

fulltext(1609 kB)138 downloads
File information
File name FULLTEXT01.pdfFile size 1609 kBChecksum SHA-512
514e089ba6e62fcfa859bbdd0ecad587f720e8c55cb25d3a6beef1c6b7a4af46f07f5acd0d057baca6a169e389019ae11eff9784502657271493cc5b7883b830
Type fulltextMimetype application/pdf

Other links

Publisher's full text

Search in DiVA

By author/editor
Nayl, ThakerNikolakopoulos, GeorgeGustafsson, Thomas
By organisation
Signals and Systems
In the same journal
Robotics and Autonomous Systems
Control Engineering

Search outside of DiVA

GoogleGoogle Scholar
Total: 138 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

doi
urn-nbn

Altmetric score

doi
urn-nbn
Total: 200 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf