VFO Path following Control with Guarantees of Positionally Constrained Transients for Unicycle-Like Robots with Constrained Control Input

Michałek, Maciej Marcin; Gawron, Tomasz

doi:10.1007/s10846-017-0482-0

Cited by 20 publications

(31 citation statements)

References 31 publications

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“…When the reference path is ready, the outer loop feedback control module is responsible for computing the prime mover's instantaneous desirable velocity vector u 0c , which should guide the vehicle along the path toward the target location. The vector u 0c , consisting of a computed longitudinal velocity v 0c for the guidance point and an angular commanded velocity c 0 of the prime mover's body, is updated in real time based on the current value of estimated vehicle configuration q E , using the Vector-Field-Orientation (VFO) path-following (PF) control strategy proposed in [10]. It has been shown that applying the VFO PF control function is relatively intuitive and leads to easily predictable nonoscillatory movement of a vehicle in a transient stage as it is smoothly guided toward, and then along, a reference path.…”

Section: Motion Algorithmization Subsystemmentioning

confidence: 99%

“…This article presents a prototype ADAS for drivers of electric urban buses, which is being cooperatively developed by Poznań University of Technology and European manufacturer Solaris Bus & Coach (SBC). The proposed system builds on and integrates components previously created by the authors in the context of vision-based detection [8] as well as motion planning and feedback control algorithms [9], [10]. The main contribution to the field of intelligent transportation comes from the new concept of the complete ADAS, which adheres to the requirements of bus manufacturers and operators by relying only on onboard sensors and computational systems while being affordable and scalable to various city bus models.…”

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confidence: 99%

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Precise Docking at Charging Stations for Large-Capacity Vehicles: An Advanced Driver-Assistance System for Drivers of Electric Urban Buses

Michałek

Gawron

Nowicki

et al. 2021

IEEE Veh. Technol. Mag.

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large-capacity vehicles. This trend is caused mainly by environmental and economic factors. In the public transportation area, it leads to the use of long and articulated electric buses, which are difficult to maneuver, even for experienced drivers. Consequently, there is a need to develop advanced driver-assistance systems (ADAS) for operators of urban buses to safely perform positioning maneuvers with acceptable precision. This article presents an ADAS concept dedicated to the task of precisely docking a pantograph tip with a charging station. We describe the functional structure of the ADAS and explain details of its interconnected components responsible for motion algorithmization, environmental perception, and vehicle localization. Experimental results of assisted pantograph docking maneuvers obtained with an articulated electric bus are provided. BackgroundThe Need for ADAS in Urban Buses Two-body, or multibody, electric urban buses (Figure 1) provide a means to solve traffic congestion and air pollution, as they are high-capacity,

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Section: Motion Algorithmization Subsystemmentioning

confidence: 99%

mentioning

confidence: 99%

Precise Docking at Charging Stations for Large-Capacity Vehicles: An Advanced Driver-Assistance System for Drivers of Electric Urban Buses

Michałek

Gawron

Nowicki

et al. 2021

IEEE Veh. Technol. Mag.

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“…However, contrary to the approach from Reference [8], our transition segments are not represented by curvature profiles. We propose transition segments with explicit representation of x as a function of y, which can easily be used with known path-following controllers (e.g., Reference [9]). We also devised a closed-form expression utilized to check for collisions between our G 3 -continuous path primitive and an obstacle, which leads to efficient and exact collision checking.…”

Section: Related Workmentioning

confidence: 99%

“…Transition segments are not explicitly parameterized by arc-length s, but they can immediately be used with path-following controllers utilizing level curves, such as the one from Reference[9].…”

mentioning

confidence: 99%

A G3-Continuous Extend Procedure for Path Planning of Mobile Robots with Limited Motion Curvature and State Constraints

Gawron

Michałek

2018

Applied Sciences

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Provably correct and computationally efficient path planning in the presence of various constraints is essential for autonomous driving and agile maneuvering of mobile robots. In this paper, we consider the planning of G 3-continuous planar paths with continuous and limited curvature in a motion environment that is bounded and contains obstacles modeled by a set of (non-convex) polygons. In practice, the curvature constraints often arise from mechanical limitations for the robot, such as limited steering and articulation angles in wheeled robots, or aerodynamic constraints in unmanned aerial vehicles. To solve the planning problem under those stringent constraints, we improve upon known path primitives, such as Reeds–Shepp (RS) and CC-steer (curvature-continuous) paths. Given the initial and final robot configuration, we developed extend-procedure computing paths that can approximate RS paths with arbitrary precision, but guaranteeing G 3-continuity. We show that satisfaction of all stated path constraints is guaranteed and, contrary to many other methods known from the literature, the method of checking for collisions between the planned path and obstacles is given by a closed-form analytic expression. Furthermore, we demonstrate that our approach is not conservative, i.e., it allows for precise maneuvers in tight environments under the assumption of a rectangular robot footprint. The presented extend procedure can be integrated into various motion-planning algorithms available in the literature. In particular, we utilized the Rapidly exploring Random Trees (RRT*) algorithm in conjunction with our extend procedure to demonstrate its feasibility in motion environments of nontrivial complexity and low computational cost in comparison to a G 3-continuous extend procedure based on η 3-splines.

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“…Muhammad Asif et al [11] developed the output feedback with adaptive Sliding Mode Controller (SMC), and revealed that the high gain observer and the globally bounded state feedback is robust against un-modeled dynamics and disturbances. In [12], the Vector-Field-Orientation (VFO) control was proposed to solve the path following task for unicycle kinematics with the amplitude-limited control input. This method has advantages such as rapid, non-oscillatory, and easily predictable transients in the closed-loop system.…”

Section: Introductionmentioning

confidence: 99%

Trajectory Tracking of Wheeled Mobile Robots Using Z-Number Based Fuzzy Logic

et al. 2020

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Being trajectory tracking key for safe mobile robot navigation, Fuzzy Logic (FL) has been useful in tackling uncertainty and imprecision to realize robust and smooth trajectory tracking. In this paper, we present the Z-number based Fuzzy Logic control for trajectory tracking of differential wheeled mobile robots. The unique point of our approach lies in the ability to encode constraint and reliability in multi-input and multi-output rules, whose antecedent universe considers only the instantaneous measurements of distance and the orientation gaps, and whose consequent universe is computed by the interpolative reasoning and the graded mean integration approach. As a consequence, not only our approach avoids the complexity of encoding error gradients, but also is advantageous to model versatile control rules able to cope with missing observations and noisy inducements on actuators. Our experiments using both physics-based simulations and real-world tests based on a Pioneer 3DX robot architecture have elucidated the superior efficacy and the feasibility of the proposed controller regarding accuracy, robustness, and smoothness compared to other well-known related frameworks such as Fuzzy Logic Type 1, Fuzzy Logic Type 2 and Fuzzy Logic with PID. Our results provide unique insights to realize generalizable algorithms aided by FL and Z-number towards robust trajectory tracking.

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VFO Path following Control with Guarantees of Positionally Constrained Transients for Unicycle-Like Robots with Constrained Control Input

Cited by 20 publications

References 31 publications

Precise Docking at Charging Stations for Large-Capacity Vehicles: An Advanced Driver-Assistance System for Drivers of Electric Urban Buses

Precise Docking at Charging Stations for Large-Capacity Vehicles: An Advanced Driver-Assistance System for Drivers of Electric Urban Buses

A G3-Continuous Extend Procedure for Path Planning of Mobile Robots with Limited Motion Curvature and State Constraints

Trajectory Tracking of Wheeled Mobile Robots Using Z-Number Based Fuzzy Logic

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