Switching Strategies of Collision Avoidance and Tracking Control for Vehicles Based on Non-cooperative Game and Model Predictive Control

N. Isoda, K. Kogiso, T. Asai
{"title":"Switching Strategies of Collision Avoidance and Tracking Control for Vehicles Based on Non-cooperative Game and Model Predictive Control","authors":"N. Isoda, K. Kogiso, T. Asai","doi":"10.1109/ISIC.2007.4450881","DOIUrl":null,"url":null,"abstract":"This paper proposes two kinds of switching strategies for a vehicle to avoid colliding with another vehicle and to track to a given reference trajectory. From a pursuit-evasion game, we can lead the collision avoidance procedure based on a so-called backward reachable set And, to achieve the trajectory tracking, we employ a model predictive control. The switching strategies unify the collision avoidance and the model predictive control methods. Here, the switching structure may lead to chattering. So, the strategy that we propose finally has a hysteresis to adjust a frequency of the chattering. In a numerical verification, we illustrate some simulation results when the proposed algorithms are used.","PeriodicalId":184867,"journal":{"name":"2007 IEEE 22nd International Symposium on Intelligent Control","volume":"46 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2007-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"5","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2007 IEEE 22nd International Symposium on Intelligent Control","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ISIC.2007.4450881","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 5

Abstract

This paper proposes two kinds of switching strategies for a vehicle to avoid colliding with another vehicle and to track to a given reference trajectory. From a pursuit-evasion game, we can lead the collision avoidance procedure based on a so-called backward reachable set And, to achieve the trajectory tracking, we employ a model predictive control. The switching strategies unify the collision avoidance and the model predictive control methods. Here, the switching structure may lead to chattering. So, the strategy that we propose finally has a hysteresis to adjust a frequency of the chattering. In a numerical verification, we illustrate some simulation results when the proposed algorithms are used.
查看原文
分享 分享
微信好友 朋友圈 QQ好友 复制链接
本刊更多论文
基于非合作博弈和模型预测控制的车辆避碰与跟踪控制切换策略
本文提出了两种切换策略,以避免与另一车辆碰撞,并跟踪到给定的参考轨迹。在追逃博弈的基础上,引入了基于向后可达集的避碰过程,并采用模型预测控制实现轨迹跟踪。该切换策略将避碰控制与模型预测控制相结合。在这里,开关结构可能导致抖振。因此,我们提出的策略最终具有一个滞回来调节抖振的频率。在数值验证中,我们举例说明了使用所提出算法时的一些仿真结果。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
求助全文
约1分钟内获得全文 去求助
来源期刊
自引率
0.00%
发文量
0
期刊最新文献
Two-Degree-of-Freedom Control of a Self-Sensing Micro-Actuator for HDD A Dual Mode Reference Governor for Discrete Time Systems with State and Control Constraints A Potential Field Approach for Controlling a Mobile Robot to Track a Moving Target Algorithm for variational inequality problems based on a gradient dynamical system designed using a control Liapunov function Optimal Tuning of PID Parameters Using Iterative Learning Approach
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
0
微信
客服QQ
Book学术公众号 扫码关注我们
反馈
×
意见反馈
请填写您的意见或建议
请填写您的手机或邮箱
已复制链接
已复制链接
快去分享给好友吧!
我知道了
×
扫码分享
扫码分享
Book学术官方微信
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术
文献互助 智能选刊 最新文献 互助须知 联系我们:info@booksci.cn
Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。
Copyright © 2023 Book学术 All rights reserved.
ghs 京公网安备 11010802042870号 京ICP备2023020795号-1