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EnglishThis 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.
| Titolo: | A low-power interface for the readout and motion-control of a MEMS capacitive sensor |
| Autori: | |
| Data di pubblicazione: | 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. |
| Handle: | http://hdl.handle.net/11577/2272173 |
| ISBN: | 9781424417025 |
| Appare nelle tipologie: | 04.01 - Contributo in atti di convegno |
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