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In this paper a novel formation control frame-work is presented for unmanned autonomous ground vehicles based on analytical mechanics and multibody interpretation. The coordinated motion is achieved by introducing holonomic constraint functions that describe the interaction between the vehicles. These functions are interpreted as constraint forces and the decentralized control law is determined for...
In this paper a hierarchically structured framework is proposed for the time-optimal trajectory planning and control of autonomous electric vehicles with state and input constraints for fixed test paths. The time-optimal reference signals are obtained by solving a dynamic nonlinear optimal control problem associated with the kinematic model of the vehicle using direct discretization and multiple shooting...
In this paper an adaptive control law is designed for formation control of underactuated autonomous ground vehicles based on the leader-follower approach and kinematics equations. The follower vehicles have limited knowledge about the leader's states. The unknown term containing the velocity information of the leader is estimated using neural networks with online adaptive weight tuning laws. The decentralized...
This paper proposes a novel method for the high speed tracking control of unmanned ground vehicles (UGVs) subject to load changes. The vehicle is modeled as a 16 degree-of-freedom multi-body system whose dynamics is derived using robotic formalism. The hierarchical control structure comprises two levels: a high-level (HLC) and a low-level (LLC) control system. The states are estimated with a two-stage...
In this paper a novel method is presented for hierarchical control of autonomous vehicles consisting of high-level (HLC) and low-level (LLC) control systems. The LLC system can be commanded to assure a prescribed velocity and steering profile using PID-type active suspension, velocity and steering control. The outputs of the LLC system are the generalized forces and moments required by the vehicle...
In this paper a novel method was presented for the multi-body modeling of double-track ground vehicles based on Appell formalism. Kinematic constraints were introduced in form of Lagrange-multipliers that assure zero vertical accelerations at the wheel/ground contact points. A fictitious control system was used to find some non-available parts of the reference signals. Based on the constrained dynamic...
A vehicle may be considered as a multi-body system with the chassis, the six degrees of freedom moving ability relative to the inertial reference frame, and with the wheels as the end effectors. In this paper the geometry, kinematics and dynamics of the vehicle are modeled as a tree structured mechanical system using the modified Denavit-Hartenberg convention. Two type of techniques are considered...
The paper deals with the approximately time optimal control of four in-wheel-driven (4WD) electric cars in a test path under state and input constraints with initial perturbations. The path is divided into sections allowing that path information for the actual section appears in real time based on sensor fusion. For each section a separate optimum control problem is solved in a receding horizon predictive...
The paper deals with the approximately time-optimal control of automatically driven cars modeled with gear shift as discrete control input beside the continuous ones in a path between two path boundaries. The path boundaries are defined by their corner points that may be the result of image processing in real time or prescribed in advance. The path is divided into sections for which separate optimum...
The paper deals with the time optimal control of automatically driven cars modeled with gear shift as discrete control input beside the continuous ones in a test path between corridors. The car is required to avoid a static obstacle or performing double lane change. The problem can be formulated as a mixed-integer optimal control problem (MIOCP). The resulting MIOCP is solved by reformulating it to...
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