Experimental Tests of Autonomous Ground Vehicles with Preview

Cunjia Liu; Wen-Hua Chen; John Andrews

doi:10.1007/s11633-010-0513-9

August 2010

Article Contents

Cunjia Liu, Wen-Hua Chen and John Andrews. Experimental Tests of Autonomous Ground Vehicles with Preview. International Journal of Automation and Computing, vol. 7, no. 3, pp. 342-348, 2010. doi: 10.1007/s11633-010-0513-9

Cite as: Cunjia Liu, Wen-Hua Chen and John Andrews. Experimental Tests of Autonomous Ground Vehicles with Preview. International Journal of Automation and Computing, vol. 7, no. 3, pp. 342-348, 2010. doi: 10.1007/s11633-010-0513-9

Experimental Tests of Autonomous Ground Vehicles with Preview

1.
Department of Aeronautical and Automotive Engineering, Loughborough University, Loughborough LE113TU, UK;
2.
Nottingham Transportation Engineering Centre, Faculty of Engineering, University of Nottingham, Nottingham NG72RD, UK

Author Biography:

Wen-Hua Chen received the M.Sc.and Ph.D.degrees from Department of Automatic Control at Northeast University, PRC in 1989 and 1991,respectively.
Corresponding author: Cunjia Liu received the B.Eng.degree in detection,guidance,and control technology in 2005,the M.Eng.

Received: 2009-08-23

Abstract

This paper describes the design and experimental tests of a path planning and reference tracking algorithm for autonomous ground vehicles. The ground vehicles under consideration are equipped with forward looking sensors that provide a preview capability over a certain horizon. A two-level control framework is proposed for real-time implementation of the model predictive control (MPC) algorithm, where the high-level performs on-line optimization to generate the best possible local reference respect to various constraints and the low-level commands the vehicle to follow realistic trajectories generated by the high-level controller. The proposed control scheme is implemented on an indoor testbed through networks with satisfactory performance.
- Model predictive control,
- autonomous vehicle,
- online optimization,
- nonholonomic constraint,
- eigenvalue

References

[1]	I.Kolmanovsky,N.H.McClamroch.Developments in non-holonomic control problems.Control Systems Magazine, IEEE,vol.15,no.6,pp.20-36,1995.
[2]	P.Morin,C.Samson.Trajectory tracking for non-holonomic vehicles:Overview and case study.In Proceed-ings of the 4th International Workshop on Robot Motion and Control,IEEE,pp.139-153,2004.
[3]	A.De Cabrol,T.Garcia,P.Bonnin,M.Chetto.A concept of dynamically reconfigurable real-time vision system for autonomous mobile robotics.International Journal of Au-tomation and Computing,vol.5,no.2,pp.174-184,2008.
[4]	Y.Yoon,J.Shin,H.J.Kim,Y.Park,S.Sastry.Model-predictive active steering and obstacle avoidance for au-tonomous ground vehicles.Control Engineering Practice, vol.17,no.7,pp.741-750,2009.
[5]	A.Ollero,O.Amidi.Predictive path tracking of mobile robots.Applications to the CMU Navlab.In Proceedings of the 5th International Conference on Advanced Robotics, IEEE,Pisa,Italy,vol.2,pp.1081-1086,1991.
[6]	D.Gu,H.Hu.Neural predictive control for a car-like mobile robot.Robotics and Autonomous Systems,vol.39,no.2, pp.73-86,2002.
[7]	D.Gu and H.Hu.Receding horizon tracking control of wheeled mobile robots.IEEE Transactions on Control Sys-tems Technology,vol.14,no.4,pp.743-749,2006.
[8]	Y.Zhu,U.Ozguner.Constrained model predictive con-trol for nonholonomic vehicle regulation problem?In Pro-ceedings of the 17th IFAC World Congress,Seoul,Korea, pp.9552-9557,2008.
[9]	X.B.Hu,W.H.Chen.Model predictive control of non-linear systems:Stability region and feasible initial control. International Journal of Automation and Computing,vol.4, no.2,pp.195-202,2007.
[10]	F.Ku¨hne,W.F.Lages,J.M.G.da Silva Jr.Model predic-tive control of a mobile robot using linearization.In Pro-ceedings of Mechatronics and Robotics,pp.525-530,2004.
[11]	G.Klanar,I.Krjanc.Tracking-error model-based predic-tive control for mobile robots in real time.Robotics and Autonomous Systems,vol.55,no.6,pp.460-469,2007.
[12]	K.Kanjanawanishkul,A.Zell.Path following for an omnidi-rectional mobile robot based on model predictive control.In Proceedings of IEEE International Conference on Robotics and Automation,IEEE,Kobe,Japan,pp.3341-3346,2009.
[13]	D.Q.Mayne,J.B.Rawlings,C.V.Rao,P.O.M.Scokaert. Constrained model predictive control:Stability and opti-mality.Automatica,vol.36,no.6,pp.789-814,2000.
[14]	E′.Gyurkovics,A.M.Elaiw.Stabilization of sampled-data nonlinear systems by receding horizon control via discrete-time approximations.Automatica,vol.40,no.12,pp.2017-2028,2004.
[15]	Y.Kanayama,Y.Kimura,F.Miyazaki,T.Noguchi.A sta-ble tracking control method for a non-holonomic mobile robot.In Proceedings of IEEE/RSJ International Workshop on Intelligent,Robots and Systems,IEEE,Osaka,Japan, vol.3,pp.1236-1241,1991.
[16]	W.H.Chen,D.J.Ballance,J.O Reilly.Model predictive control of nonlinear systems:Computational burden and stability.IEE Proceedings-Control Theory and Applica-tions,vol.147,no.4,pp.387-394,2000.

Metrics

[1]	Olfa Yahya, Zeineb Lassoued, Kamel Abderrahim. Predictive Control Based on Fuzzy Supervisor for PWARX Hybrid Model . International Journal of Automation and Computing, 2019, 16(5): 683-695. doi: 10.1007/s11633-018-1148-5
[2]	Mehdi Naderi, Tor Arne Johansen, Ali Khaki Sedigh. A Fault Tolerant Control Scheme Using the Feasible Constrained Control Allocation Strategy . International Journal of Automation and Computing, 2019, 16(5): 628-643. doi: 10.1007/s11633-019-1168-9
[3]	Dalhoumi Latifa, Chtourou Mohamed, Djemel Mohamed. Decomposition Based Fuzzy Model Predictive Control Approaches for Interconnected Nonlinear Systems . International Journal of Automation and Computing, 2019, 16(3): 369-388. doi: 10.1007/s11633-016-1021-3
[4]	Basant Kumar Sahu, Bidyadhar Subudhi, Madan Mohan Gupta. Stability Analysis of an Underactuated Autonomous Underwater Vehicle Using Extended-Routh's Stability Method . International Journal of Automation and Computing, 2018, 15(3): 299-309. doi: 10.1007/s11633-016-0992-4
[5]	Xiao-Hong Yin, Shao-Yuan Li. Model Predictive Control for Vapor Compression Cycle of Refrigeration Process . International Journal of Automation and Computing, 2018, 15(6): 707-715. doi: 10.1007/s11633-015-0942-6
[6]	Marwa Taleb, Edouard Leclercq, Dimitri Lefebvre. Model Predictive Control for Discrete and Continuous Timed Petri Nets . International Journal of Automation and Computing, 2018, 15(1): 25-38. doi: 10.1007/s11633-016-1046-7
[7]	Jian-Ru Xue, Jian-Wu Fang, Pu Zhang. A Survey of Scene Understanding by Event Reasoning in Autonomous Driving . International Journal of Automation and Computing, 2018, 15(3): 249-266. doi: 10.1007/s11633-018-1126-y
[8]	Magdi S. Mahmoud, Yuanqing Xia. The Interaction between Control and Computing Theories: New Approaches . International Journal of Automation and Computing, 2017, 14(3): 254-274. doi: 10.1007/s11633-017-1070-2
[9]	Shamik Misra, Rajasekhara Reddy, Prabirkumar Saha. Model Predictive Control of Resonant Systems Using Kautz Model . International Journal of Automation and Computing, 2016, 13(5): 501-515. doi: 10.1007/s11633-016-0954-x
[10]	Wei Sun, Yu-Qiang Wu, Zong-Yao Sun. Tracking Control Design for Nonholonomic Mechanical Systems with Affine Constraints . International Journal of Automation and Computing, 2014, 11(3): 328-333. doi: 10.1007/s11633-014-0796-3
[11]	Basant Kumar Sahu, Bidyadhar Subudhi. Adaptive Tracking Control of an Autonomous Underwater Vehicle . International Journal of Automation and Computing, 2014, 11(3): 299-307. doi: 10.1007/s11633-014-0792-7
[12]	Abdennebi Nizar, Ben Mansour Houda, Nouri Ahmed Said. A New Sliding Function for Discrete Predictive Sliding Mode Control of Time Delay Systems . International Journal of Automation and Computing, 2013, 10(4): 288-295. doi: 10.1007/s11633-013-0723-z
[13]	Li Zhang, Xian-Wen Gao. Synthesizing Scheduled Robust Model Predictive Control with Target Tracking . International Journal of Automation and Computing, 2012, 9(4): 337-341. doi: 10.1007/s11633-012-0653-1
[14]	Da-Zhong Wang, Shu-Jing Wu, Shigenori Okubo. State Predictive Model Following Control System for Linear Time Delays . International Journal of Automation and Computing, 2009, 6(2): 186-191. doi: 10.1007/s11633-009-0186-4
[15]	Xiao-Bing Hu, Wen-Hua Chen. Model Predictive Control of Nonlinear Systems: Stability Region and Feasible Initial Control . International Journal of Automation and Computing, 2007, 4(2): 195-202. doi: 10.1007/s11633-007-0195-0
[16]	Jiang-Tao Cao, Hong-Hai Liu, Ping Li, David J. Brown, Georgi Dimirovski. A Study of Electric Vehicle Suspension Control System Based on an Improved Half-vehicle Model . International Journal of Automation and Computing, 2007, 4(3): 236-242. doi: 10.1007/s11633-007-0236-8
[17]	Ilona Pabst, Peter C. Müler. General Conditions for Online Estimation and Optimization of Reliability Characteristics . International Journal of Automation and Computing, 2006, 3(2): 177-183. doi: 10.1007/s11633-006-0177-7
[18]	Shi-Wei Wang, Ding-Li Yu. Adaptive Air-Fuel Ratio Control with MLP Network . International Journal of Automation and Computing, 2005, 2(2): 125-133. doi: 10.1007/s11633-005-0125-y
[19]	Yun Li, Hiroshi Kashiwagi. High-Order Volterra Model Predictive Control and Its Application to a Nonlinear Polymerisation Process . International Journal of Automation and Computing, 2005, 2(2): 208-214. doi: 10.1007/s11633-005-0208-9
[20]	Xiao-Bing Hu, Wen-Hua Chen. A Modified Model Predictive Control Scheme . International Journal of Automation and Computing, 2005, 2(1): 101-106. doi: 10.1007/s11633-005-0101-6

通讯作者: 陈斌, bchen63@163.com

1.
沈阳化工大学材料科学与工程学院沈阳 110142

Cite This Article

PDF

XML

Entire Issue PDF

用微信扫码二维码

分享至好友和朋友圈

Metrics

Abstract Views (4314) PDF downloads (2084) Citations (0)

Related Articles

Experimental Tests of Autonomous Ground Vehicles with Preview

1. Department of Aeronautical and Automotive Engineering, Loughborough University, Loughborough LE113TU, UK;

2. Nottingham Transportation Engineering Centre, Faculty of Engineering, University of Nottingham, Nottingham NG72RD, UK

Corresponding author: Cunjia Liu received the B.Eng.degree in detection,guidance,and control technology in 2005,the M.Eng.

Received: 2009-08-23

Key words:

Abstract: This paper describes the design and experimental tests of a path planning and reference tracking algorithm for autonomous ground vehicles. The ground vehicles under consideration are equipped with forward looking sensors that provide a preview capability over a certain horizon. A two-level control framework is proposed for real-time implementation of the model predictive control (MPC) algorithm, where the high-level performs on-line optimization to generate the best possible local reference respect to various constraints and the low-level commands the vehicle to follow realistic trajectories generated by the high-level controller. The proposed control scheme is implemented on an indoor testbed through networks with satisfactory performance.

HTML

Reference (16)

[1]	I.Kolmanovsky,N.H.McClamroch.Developments in non-holonomic control problems.Control Systems Magazine, IEEE,vol.15,no.6,pp.20-36,1995.
[2]	P.Morin,C.Samson.Trajectory tracking for non-holonomic vehicles:Overview and case study.In Proceed-ings of the 4th International Workshop on Robot Motion and Control,IEEE,pp.139-153,2004.
[3]	A.De Cabrol,T.Garcia,P.Bonnin,M.Chetto.A concept of dynamically reconfigurable real-time vision system for autonomous mobile robotics.International Journal of Au-tomation and Computing,vol.5,no.2,pp.174-184,2008.
[4]	Y.Yoon,J.Shin,H.J.Kim,Y.Park,S.Sastry.Model-predictive active steering and obstacle avoidance for au-tonomous ground vehicles.Control Engineering Practice, vol.17,no.7,pp.741-750,2009.
[5]	A.Ollero,O.Amidi.Predictive path tracking of mobile robots.Applications to the CMU Navlab.In Proceedings of the 5th International Conference on Advanced Robotics, IEEE,Pisa,Italy,vol.2,pp.1081-1086,1991.
[6]	D.Gu,H.Hu.Neural predictive control for a car-like mobile robot.Robotics and Autonomous Systems,vol.39,no.2, pp.73-86,2002.
[7]	D.Gu and H.Hu.Receding horizon tracking control of wheeled mobile robots.IEEE Transactions on Control Sys-tems Technology,vol.14,no.4,pp.743-749,2006.
[8]	Y.Zhu,U.Ozguner.Constrained model predictive con-trol for nonholonomic vehicle regulation problem?In Pro-ceedings of the 17th IFAC World Congress,Seoul,Korea, pp.9552-9557,2008.
[9]	X.B.Hu,W.H.Chen.Model predictive control of non-linear systems:Stability region and feasible initial control. International Journal of Automation and Computing,vol.4, no.2,pp.195-202,2007.
[10]	F.Ku¨hne,W.F.Lages,J.M.G.da Silva Jr.Model predic-tive control of a mobile robot using linearization.In Pro-ceedings of Mechatronics and Robotics,pp.525-530,2004.
[11]	G.Klanar,I.Krjanc.Tracking-error model-based predic-tive control for mobile robots in real time.Robotics and Autonomous Systems,vol.55,no.6,pp.460-469,2007.
[12]	K.Kanjanawanishkul,A.Zell.Path following for an omnidi-rectional mobile robot based on model predictive control.In Proceedings of IEEE International Conference on Robotics and Automation,IEEE,Kobe,Japan,pp.3341-3346,2009.
[13]	D.Q.Mayne,J.B.Rawlings,C.V.Rao,P.O.M.Scokaert. Constrained model predictive control:Stability and opti-mality.Automatica,vol.36,no.6,pp.789-814,2000.
[14]	E′.Gyurkovics,A.M.Elaiw.Stabilization of sampled-data nonlinear systems by receding horizon control via discrete-time approximations.Automatica,vol.40,no.12,pp.2017-2028,2004.
[15]	Y.Kanayama,Y.Kimura,F.Miyazaki,T.Noguchi.A sta-ble tracking control method for a non-holonomic mobile robot.In Proceedings of IEEE/RSJ International Workshop on Intelligent,Robots and Systems,IEEE,Osaka,Japan, vol.3,pp.1236-1241,1991.
[16]	W.H.Chen,D.J.Ballance,J.O Reilly.Model predictive control of nonlinear systems:Computational burden and stability.IEE Proceedings-Control Theory and Applica-tions,vol.147,no.4,pp.387-394,2000.

Experimental Tests of Autonomous Ground Vehicles with Preview

Abstract

References

Metrics

Related Articles

通讯作者: 陈斌, bchen63@163.com

Metrics