NDLI: An overall control strategy based on target reaching for the navigation of an urban electric vehicle

Content Provider	IEEE Xplore Digital Library
Author	Vilca, J. Adouane, L. Mezouar, Y. Lebraly, P.
Copyright Year	2013
Description	Author affiliation: Inst. Pascal, Blaise Pascal Univ., Clermont-Ferrand, France (Vilca, J.; Adouane, L.; Mezouar, Y.; Lebraly, P.)
Abstract	This paper deals with reactive and flexible humanlike autonomous vehicle navigation. A human driver reactively guides his vehicle, performing a smooth trajectory within the roads limits until reaching the defined goal. To obtain a similar behavior with an unmanned ground vehicle (UGV), this paper proposes a flexible control law to drive a vehicle towards desired static or dynamic targets based on a novel definition of control variables and Lyapunov stability analysis. Moreover, a target assignment strategy, combined with an appropriate sigmoid function, that allow to perform smooth, flexible and safe vehicle navigation through successive waypoints is presented. The stability of the proposed control strategy is proved according to Lyapunov synthesis. Simulations and experiments are performed in different cases to demonstrate the reliability and efficiency of the control strategy.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	728
Ending Page	734
File Size	2024858
Page Count	7
File Format	PDF
ISSN	21530858
DOI	10.1109/IROS.2013.6696432
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-11-03
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vehicles Navigation Trajectory Vehicle dynamics Lyapunov methods Roads Stability analysis
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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