This article describes the overall system design of a reduced size autonomous vehicle and focuses on the control strategy which is based on a Nonlinear Receding Horizon Control (NRHC) algorithm. The NRH planner is called by a high level manager, in the outer control loop, to solve a sequence of optimal control problems. The planned motion provide a sequence of reference set points for the faster inner control loop until a new plan is available. The lateral motion is controlled through the steering command by tracking the yaw rate reference. The longitudinal motion is controlled by means of the throttle/braking coupled command by tracking the planned forward speed profiles. The paper discusses the results of some simulation results. The project description proceeds as follows: Section II describes the system architecture from vehicle and communication to software. Section III and IV details the motion planning and control algorithms. In Section V the simulation results regarding the NRH based controller are discussed.

A low-power interface for the readout and motion-control of a MEMS capacitive sensor

OBOE, ROBERTO;
2008

Abstract

This article describes the overall system design of a reduced size autonomous vehicle and focuses on the control strategy which is based on a Nonlinear Receding Horizon Control (NRHC) algorithm. The NRH planner is called by a high level manager, in the outer control loop, to solve a sequence of optimal control problems. The planned motion provide a sequence of reference set points for the faster inner control loop until a new plan is available. The lateral motion is controlled through the steering command by tracking the yaw rate reference. The longitudinal motion is controlled by means of the throttle/braking coupled command by tracking the planned forward speed profiles. The paper discusses the results of some simulation results. The project description proceeds as follows: Section II describes the system architecture from vehicle and communication to software. Section III and IV details the motion planning and control algorithms. In Section V the simulation results regarding the NRH based controller are discussed.
2008
Advanced Motion Control, 2008. AMC '08. 10th IEEE International Workshop on
Advanced Motion Control, 2008. AMC '08. 10th IEEE International Workshop on
9781424417025
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11577/2272173
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