Study of Model Predictive Control for Path-Following Autonomous Ground Vehicle Control under Crosswind Effect
Joint Authors
Yakub, Fitri
Abu, Aminudin
Sarip, Shamsul
Mori, Yasuchika
Source
Journal of Control Science and Engineering
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-18, 18 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-04-11
Country of Publication
Egypt
No. of Pages
18
Main Subjects
Electronic engineering
Information Technology and Computer Science
Abstract EN
We present a comparative study of model predictive control approaches of two-wheel steering, four-wheel steering, and a combination of two-wheel steering with direct yaw moment control manoeuvres for path-following control in autonomous car vehicle dynamics systems.
Single-track mode, based on a linearized vehicle and tire model, is used.
Based on a given trajectory, we drove the vehicle at low and high forward speeds and on low and high road friction surfaces for a double-lane change scenario in order to follow the desired trajectory as close as possible while rejecting the effects of wind gusts.
We compared the controller based on both simple and complex bicycle models without and with the roll vehicle dynamics for different types of model predictive control manoeuvres.
The simulation result showed that the model predictive control gave a better performance in terms of robustness for both forward speeds and road surface variation in autonomous path-following control.
It also demonstrated that model predictive control is useful to maintain vehicle stability along the desired path and has an ability to eliminate the crosswind effect.
American Psychological Association (APA)
Yakub, Fitri& Abu, Aminudin& Sarip, Shamsul& Mori, Yasuchika. 2016. Study of Model Predictive Control for Path-Following Autonomous Ground Vehicle Control under Crosswind Effect. Journal of Control Science and Engineering،Vol. 2016, no. 2016, pp.1-18.
https://search.emarefa.net/detail/BIM-1107911
Modern Language Association (MLA)
Yakub, Fitri…[et al.]. Study of Model Predictive Control for Path-Following Autonomous Ground Vehicle Control under Crosswind Effect. Journal of Control Science and Engineering No. 2016 (2016), pp.1-18.
https://search.emarefa.net/detail/BIM-1107911
American Medical Association (AMA)
Yakub, Fitri& Abu, Aminudin& Sarip, Shamsul& Mori, Yasuchika. Study of Model Predictive Control for Path-Following Autonomous Ground Vehicle Control under Crosswind Effect. Journal of Control Science and Engineering. 2016. Vol. 2016, no. 2016, pp.1-18.
https://search.emarefa.net/detail/BIM-1107911
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1107911