Volume 7 Number 3
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

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
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

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Experimental Tests of Autonomous Ground Vehicles with Preview

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

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.

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
Citation: 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
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