Output Constraint Control on Path Following of Four-Wheel Independently Actuated Autonomous Ground Vehicles

Hu, Chuan; Wang, Rongrong; Yan, Fengjun; Chen, Nan

doi:10.1109/tvt.2015.2472975

Cited by 180 publications

(83 citation statements)

References 34 publications

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“…EZKBH algoritma akış diyagramı (SLAM algorithm flow chart) vardır. İKA'nın kendi rotasında kalabilmesi ve önündeki rotanın özelliklerini algılayabilmesi gerekmektedir [43]. Bu kabiliyetleri kazanabilmek için sadece GPS verileri yeterli olmamaktadır [44].…”

Section: Otonom Sürüş Kabi̇li̇yeti̇ Geli̇şti̇rme Ve Deneysel Sonuçlar (Devunclassified

İnsansız kara aracı geliştirmeye bütünleşik bir yaklaşım: tasarım, analiz, uygulama ve öneriler

Kıvanç¹,

Mungan²,

Atila³

et al. 2019

Gazi Üniversitesi Mühendislik-Mimarlık Fakültesi Dergisi

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Improving of sensor data using hybrid filter approach  Simultaneous localization and mapping  Heuristic path searching algorithm In this study, an unmanned ground vehicle (UGV) has been developed, which has the ability to navigate to a self-determined or unknown area, the ability of mapping, localization, trajectory detection and tracking, detection of obstacles and finding a new path to avoid collisions with these obstacles. In an area without a specific map, sketch or floor plan, UGV's autonomous driving capability in indoor and outdoor, has been verified by the experiments. A general system block diagram and manufactured UGV are given in Figure A.

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Section: Otonom Sürüş Kabi̇li̇yeti̇ Geli̇şti̇rme Ve Deneysel Sonuçlar (Devunclassified

İnsansız kara aracı geliştirmeye bütünleşik bir yaklaşım: tasarım, analiz, uygulama ve öneriler

Kıvanç¹,

Mungan²,

Atila³

et al. 2019

Gazi Üniversitesi Mühendislik-Mimarlık Fakültesi Dergisi

View full text Add to dashboard Cite

show abstract

“…However, since these techniques are uncoordinated control strategies, the coupled effects between the longitudinal and lateral dynamics are neglected; thus, their performance may be degraded [17]. Correspondingly, it is generally difficult to coordinately converge the errors of path following due to model uncertainties and disturbances [18] and the safety requirement of a lateral offset during a transient response [19].…”

Section: Introductionmentioning

confidence: 99%

“…Section 3 presents the main content, in which the triple-step coordinated FTC with differential steering is developed. Then, in Section 4, the results of the FIGURE 1 Schematic diagram of path-following model [19] simulation tests performed to validate the path-following control performance are presented. Conclusions then follow in Section 5.…”

Section: Introductionmentioning

confidence: 99%

Fault‐tolerant path‐following control for in‐wheel‐motor‐driven autonomous ground vehicles with differential steering

Wang

Zong

Guo

et al. 2019

Asian Journal of Control

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Over the past several decades, the automobile industry has denoted significant research efforts to developing in-wheel-motor-driven autonomous ground vehicles (IWM-AGVs) with active front-wheel steering. One of the most fundamental issues for IWM-AGVs is path following, which is important for automated driving to ensure that the vehicle can track a target-planned path during local navigation. However, the path-following task may fail if the system experiences a stuck fault in the active front-wheel steering. In this paper, a fault-tolerant control (FTC) strategy is presented for the path following of IWM-AGVs in the presence of a stuck fault in the active front-wheel steering. For this purpose, differential steering is used to generate differential torque between the left and right wheels in IWM-AGVs, and an adaptive triple-step control approach is applied to realize coordinated lateral and longitudinal path-following maneuvering. The parameter uncertainties for the cornering stiffness and external disturbances are considered to make the vehicles robust to different driving environments. The effectiveness of the proposed scheme is evaluated with a high-fidelity and full-car model based on the veDYNA-Simulink joint platform.

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“…Lots of vehicle motion control systems need to monitor the sideslip angle dynamically, that is to say, the stable performance of vehicle motion control is dependent on precise and credible sideslip angle information [5][6][7][8][9]. Recently, the auxiliary driving and self-driving, with the advantage of vehicle autonomous security and reduced mobility cost, has attracted views and considerate efforts from both researchers and companies [10][11][12], and the estimation of sideslip angle is also important to the vehicle pathfollowing and lateral stability control [13,14]. However, 2 Mathematical Problems in Engineering the sideslip angle is hard and costly to obtain directly by vehicular sensors.…”

Section: Introductionmentioning

confidence: 99%

Running States Estimation of Autonomous Four‐Wheel Independent Drive Electric Vehicle by Virtual Longitudinal Force Sensors

Xia

Chen

et al. 2019

Mathematical Problems in Engineering

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Exact sideslip angle estimation is significant to the dynamics control of four-wheel independent drive electric vehicles. It is costly and difficult-to-popularize to equip vehicular sensors for real-time sideslip angle measurement; therefore, the reliable sideslip angle estimation method is investigated in this paper. The electric driving wheel model is proposed and applied to the longitudinal force estimation. Considering that electric driving wheel model is a nonlinear model with unknown input, an unknown input estimation method is proposed to facilitate the longitudinal force observer design, in which the adaptive high-order sliding mode observer is designed to achieve the state estimation, the analytic formula of longitudinal force is obtained by decoupling electric driving wheel model, and the longitudinal force estimator is designed by recurrence estimation method. With the designed virtual longitudinal force sensor, an adaptive attenuated Kalman filtering is proposed to estimate the vehicle running state, in which the time-varying attenuation factor is applied to weaken the past data to the current filter and the covariance of process noise and measurement noise can be adjusted adaptively. Finally, simulations and experiments are conducted and the effectiveness of proposed estimation method is validated.

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Output Constraint Control on Path Following of Four-Wheel Independently Actuated Autonomous Ground Vehicles

Cited by 180 publications

References 34 publications

İnsansız kara aracı geliştirmeye bütünleşik bir yaklaşım: tasarım, analiz, uygulama ve öneriler

İnsansız kara aracı geliştirmeye bütünleşik bir yaklaşım: tasarım, analiz, uygulama ve öneriler

Fault‐tolerant path‐following control for in‐wheel‐motor‐driven autonomous ground vehicles with differential steering

Running States Estimation of Autonomous Four‐Wheel Independent Drive Electric Vehicle by Virtual Longitudinal Force Sensors

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