PATH TRACKING FOR THE CONVOY OF AUTONOMOUS VEHICLES BASED ON A NON-LINEAR PREDICTIVE CONTROL
SUIVI DE CHEMIN POUR LE CONVOI DE VÉHICULES AUTONOMES BASÉ SUR UN CONTRÔLE PRÉDICTIF NON LINÉAIRE
Résumé
In this paper, a nonlinear predictive control of a platoon of several vehicles is proposed by using non-linear robotic form model of the vehicles. The model used represents the longitudinal, lateral and yaw movement for each vehicle in the fleet. This control approach allows controlling the fleet, uses the available information, ensures a safe distance between vehicles to avoid collisions and follows the path of the leader. The robustness of the control will be studied in order to assess the different errors occurring in the estimated parameters values.
Domaines
Automatique / RobotiqueOrigine | Fichiers produits par l'(les) auteur(s) |
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