NDLI: Experimental tests of autonomous ground vehicles with preview

Content Provider	Springer Nature Link
Author	Liu, Cunjia Chen, Wen Hua Andrews, John
Copyright Year	2010
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.
Starting Page	342
Ending Page	348
Page Count	7
File Format	PDF
ISSN	14768186
Journal	International Journal of Automation and Computing
Volume Number	7
Issue Number	3
e-ISSN	17518520
Language	English
Publisher	Institute of Automation, Chinese Academy of Sciences
Publisher Date	2010-08-18
Publisher Place	Heidelberg
Access Restriction	Subscribed
Subject Keyword	Model predictive control autonomous vehicle online optimization nonholonomic constraint eigenvalue Computer-Aided Engineering (CAD, CAE) and Design Computer Applications Control Robotics Mechatronics
Content Type	Text
Resource Type	Article
Subject	Applied Mathematics Control and Systems Engineering Modeling and Simulation Computer Science Applications

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