Author:
Watanabe Soichiro, ,Harada Masanori
Abstract
This paper investigates the application of optimal control to a micro ground vehicle (MGV) experimentally. The model predictive control (MPC) technique is used for the overall tracking controller during the maneuver. The reference trajectory for MPC is preliminarily obtained by numerical computation of the optimal control problem, which is prescribed as a minimum-time maneuver. The results provide nominal tracking performance and validate the feasibility of the approach.
Publisher
Fuji Technology Press Ltd.
Subject
Electrical and Electronic Engineering,General Computer Science
Reference16 articles.
1. H. Yoshida, M. Omae, and T. Wada, “Toward Next Active Safety Technology of Intelligent Vehicle,” J. of Robotics and Mechatronics, Vol.27, No.6, pp. 610-615, 2015.
2. T. Kobayashi and S. Majima, “Automatic Parking Control for a 4-Wheeled Vehicle by Non-Linear Receding Horizon Control,” Trans. of Japan Society of Mechanical Engineers, Series C, Vol.70, No.695, pp. 166-173, 2004 (in Japanese).
3. M. Hurni, P. Sekhavat, and I. M. Ross, “Autonomous Trajectory Planning Using Real-Time Information Updates,” AIAA Guidance, Navigation and Control Conf., AIAA 2008-6305, 2008.
4. Q. Gong, L. R. Lewis, and I. M. Ross, “Pseudospectral Motion Planning for Autonomous Vehicles,” J. of Guidance, Control, and Dynamics, Vol.32, No.3, pp. 1039-1045, 2009.
5. S. Watanabe and M. Harada, “Optimal Guidance and Control of Micro Ground Vehicles,” Proc. of 2014 JSAE Annual Congress (spring), No.40-14, pp. 15-20, 2014 (in Japanese).
Cited by
2 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献