Design And Simulation For Path Tracking Control Of A Commercial Vehicle Using Mpc

The design of the robotic vehicle VILMA at UNICAMP is developed in-vehicle platform Fiat Punto. In addition to a set of sensors, actuators, mechanism and components (hardware and/or software), new technologies should be developed in support of Automation, Control, Perception, Localization and Navigation. This work presents the design and simulation of path tracking control using model predictive control (MPC) which attempts to exploit the characteristics of the structured environment where the future path is previously known. The model for design the controller is based in a single tracking model of the vehicle and in a model of the steering which the state variables are observed by the Extended Kalman Filter (EKF). Finally, it is explained how the path is smoothed generating an arc between the points and making an optimization process by the gradient algorithm.6166Ahn, C., Peng, H., Eric Tseng, H., Estimation of road friction for enhanced active safety systems: Dynamic approach (2009) American Control Conference 2009. ACC'09, pp. 1110-1115. , IEEEAvak, B., (2004) Modeling and Control of A Superimposed Steering System, , Master's thesis School of Electrical and Computer Engineering Georgia Institute of TechnologyChoset, H.M., (2005) Principles of Robot Motion: Theory, Algorithms, and Implementation, , Bradford BooksDoumiati, M., Victorino, A., Charara, A., Lechner, D., A method to estimate the lateral tire force and the sideslip angle of a vehicle: Experimental validation (2010) American Control Conference (ACC), 2010, pp. 6936-6942. , IEEEGarca, O., Ferreira, J.V., De Neto Miranda, A., Dynamic model of a commercial vehicle for steering control and state estimation (2013) XI Simposio Brasileiro de Automação Inteligente (SBAI), , octoberGhandour, R., Victorino, A., Charara, A., Lechner, D., A vehicle skid indicator based on maximum friction estimation (2011) 18th International Federation of Automatic Control Conference (IFAC) World Congress, , MilanoGlaser, S., Mammar, S., Sentouh, C., Integrated driver-vehicle-infrastructure road departure warning unit (2010) Vehicular Technology IEEE Transactions on, 59 (6), pp. 2757-2771Howard, T.M., Green, C.J., Kelly, A., Ferguson, D., State space sampling of feasible motions for high-performance mobile robot navigation in complex environments (2008) Journal of Field Robotics, 25 (6-7), pp. 325-345Kamnik, R., Boettiger, F., Hunt, K., Roll dynamics and lateral load transfer estimation in articulated heavy freight vehicles (2003) Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 217 (11), pp. 985-997Kelly, A., Nagy, B., Reactive nonholonomic trajectory generation via parametric optimal control (2003) The International Journal of Robotics Research, 22 (7-8), pp. 583-601Koon, P., Whittaker, W., (2006) Evaluation of Autonomous Ground Vehicle SkillsLechner, D., Schaeffer, G., Yahiaoui, G., Colinot, J.P., Naude, C., Onboard estimation of friction potential (2006) FISITA World Automotive Congress, , JaponLi, L., Wang, F.-Y., Zhou, Q., Integrated longitudinal and lateral tire/road friction modeling and monitoring for vehicle motion control (2006) Intelligent Transportation Systems IEEE Transactions on, 7 (1), pp. 1-19MacIejowski, J.M., (2002) Predictive Control: With Constraints, , Pearson educationMuller, S., Uchanski, M., Hedrick, K., Estimation of the maximum tire-road friction coefficient (2003) Journal of Dynamic Systems, Measurement, and Control, 125 (4), pp. 607-617Pauwelussen, J., Dependencies of driver steering control parameters (2012) Vehicle System Dynamics, 50 (6), pp. 939-959Siegwart, R., Nourbakhsh, I.R., Scaramuzza, D., (2011) Introduction to Autonomous Mobile Robots, , The MIT Press, second edition, FebraurySnider, J.M., (2009) Automatic Steering Methods for Autonomous Automobile Path Tracking. Technical Report, , Robotics Institute Carnegie Mellon University, febrauryYih, P., (2005) Steer-by-wire: Implications for Vehicle Handling and Safety, , PhD thesis department of mechanical engineering stanford universit