Pub Date : 2020-12-18DOI: 10.1109/CVCI51460.2020.9338499
Zhang Yang, Ge Pingshu, Xu Jingyi, Zhang Tao, Zhao Qian
Vehicle target recognition technology is an important technology in the auxiliary safe driving system, which greatly improves Vehicle safety assist driving. This paper proposes a method to identify vehicle target recognition with lidar point cloud data and machine learning; This method first establishes an ROI (region of interest), and uses voxel grid filter to downsample the lidar point cloud data in this area to reduce the amount of processed data, then use RANSAC (random sampling consensus) to remove ground points that are useless for the recognition process, and then use Euclidean clustering for clustering. A rough classifier is set to initially eliminate obstacles that cannot be vehicles, then the features of each cluster is extracted. SVM (Support Vector Machine) is used as an accurate classifier, the parameters of SVM is optimized through cross-validation and grid search to achieve the best classification effect. Finally, the optimized SVM is used to identify each cluster. Experiments show that this method can effectively detect the target vehicle in the ROI and has a good recognition accuracy.
{"title":"Lidar-based Vehicle Target Recognition","authors":"Zhang Yang, Ge Pingshu, Xu Jingyi, Zhang Tao, Zhao Qian","doi":"10.1109/CVCI51460.2020.9338499","DOIUrl":"https://doi.org/10.1109/CVCI51460.2020.9338499","url":null,"abstract":"Vehicle target recognition technology is an important technology in the auxiliary safe driving system, which greatly improves Vehicle safety assist driving. This paper proposes a method to identify vehicle target recognition with lidar point cloud data and machine learning; This method first establishes an ROI (region of interest), and uses voxel grid filter to downsample the lidar point cloud data in this area to reduce the amount of processed data, then use RANSAC (random sampling consensus) to remove ground points that are useless for the recognition process, and then use Euclidean clustering for clustering. A rough classifier is set to initially eliminate obstacles that cannot be vehicles, then the features of each cluster is extracted. SVM (Support Vector Machine) is used as an accurate classifier, the parameters of SVM is optimized through cross-validation and grid search to achieve the best classification effect. Finally, the optimized SVM is used to identify each cluster. Experiments show that this method can effectively detect the target vehicle in the ROI and has a good recognition accuracy.","PeriodicalId":119721,"journal":{"name":"2020 4th CAA International Conference on Vehicular Control and Intelligence (CVCI)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2020-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124199379","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Precise control of cathode pressure and flow rate is critical to the performance and durability of proton exchange membrane fuel cell systems. This study presents a model of the cathode subsystem of fuel cell engines, and the degree of air flow rate-pressure coupling in different working areas of air compressor is analyzed. A decoupling control algorithm based on the active disturbance rejection control is then designed to realize precise regulation of air pressure and flow rate. Finally, experiments are conducted on a domestic 80kW fuel cell engine, and the effectiveness of the control algorithm is validated. The experimental results indicate that the designed control algorithm has strong flow rate-pressure decoupling ability with fast response and high control accuracy.
{"title":"Decoupling Control Strategy for Cathode System of Proton Exchange Membrane Fuel Cell Engine","authors":"Huize Liu, Chuan Fang, Liangfei Xu, Zunyan Hu, Jianqiu Li, M. Ouyang, Yishu Zhang","doi":"10.1109/CVCI51460.2020.9338607","DOIUrl":"https://doi.org/10.1109/CVCI51460.2020.9338607","url":null,"abstract":"Precise control of cathode pressure and flow rate is critical to the performance and durability of proton exchange membrane fuel cell systems. This study presents a model of the cathode subsystem of fuel cell engines, and the degree of air flow rate-pressure coupling in different working areas of air compressor is analyzed. A decoupling control algorithm based on the active disturbance rejection control is then designed to realize precise regulation of air pressure and flow rate. Finally, experiments are conducted on a domestic 80kW fuel cell engine, and the effectiveness of the control algorithm is validated. The experimental results indicate that the designed control algorithm has strong flow rate-pressure decoupling ability with fast response and high control accuracy.","PeriodicalId":119721,"journal":{"name":"2020 4th CAA International Conference on Vehicular Control and Intelligence (CVCI)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2020-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125595977","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-12-18DOI: 10.1109/CVCI51460.2020.9338630
Shuang Pan, Yafei Wang, Kaizheng Wang
Lane change is receiving attention in academia. Most existing lane changing models are rule-based lane changing models which only assume one-direction impact of surrounding vehicles on the lane-changing vehicle. In fact, lane change is a process of mutual interaction between vehicles due to the complexity and uncertainty of the traffic environment. In this paper, we proposed a multi-vehicle cooperative control approach with a distributed control structure to control model. The innovation of this paper lies in that we proposed a multivehicle cooperative lane changing controller which combines game theory and model predictive control (MPC) based on vehicle to vehicle (V2V) communication; Moreover, we designed a multi-lane vehicle ordering method, and decided the optimal time and acceleration of lane change by considering the mutual interaction between vehicles. Typical scenarios were tested to verify that a lane changing vehicle could interact with other vehicles and change lanes without collision. We verified this approach of lane changing through CarSim and MATLAB cosimulation, and compared it with the conventional rule-based lane change decision controller. Test results show that the controller is capable of changing lanes in a smarter manner and guaranteeing the safety and efficiency of the autonomous vehicle.
{"title":"A Game Theory-based Model Predictive Controller For Mandatory Lane Change Of Multiple Vehicles","authors":"Shuang Pan, Yafei Wang, Kaizheng Wang","doi":"10.1109/CVCI51460.2020.9338630","DOIUrl":"https://doi.org/10.1109/CVCI51460.2020.9338630","url":null,"abstract":"Lane change is receiving attention in academia. Most existing lane changing models are rule-based lane changing models which only assume one-direction impact of surrounding vehicles on the lane-changing vehicle. In fact, lane change is a process of mutual interaction between vehicles due to the complexity and uncertainty of the traffic environment. In this paper, we proposed a multi-vehicle cooperative control approach with a distributed control structure to control model. The innovation of this paper lies in that we proposed a multivehicle cooperative lane changing controller which combines game theory and model predictive control (MPC) based on vehicle to vehicle (V2V) communication; Moreover, we designed a multi-lane vehicle ordering method, and decided the optimal time and acceleration of lane change by considering the mutual interaction between vehicles. Typical scenarios were tested to verify that a lane changing vehicle could interact with other vehicles and change lanes without collision. We verified this approach of lane changing through CarSim and MATLAB cosimulation, and compared it with the conventional rule-based lane change decision controller. Test results show that the controller is capable of changing lanes in a smarter manner and guaranteeing the safety and efficiency of the autonomous vehicle.","PeriodicalId":119721,"journal":{"name":"2020 4th CAA International Conference on Vehicular Control and Intelligence (CVCI)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2020-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126216155","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-12-18DOI: 10.1109/CVCI51460.2020.9338642
Guo-Yong Huang, X. Yuan, Yaonan Wang
The strong transient crosswind has huge impact on the driving state of the autonomous vehicles, which requires the control system with good handling stability. Here, a predictive compensation-based handling stability control system (PCHSCS) is developed. The PCHSCS includes three parts: a steering controller, a speed controller, and a predictor. The steering controller is adopted to control the course for resisting the lateral acceleration caused by the crosswind. The speed controller is utilized to maintain the vehicle speed, decreasing the undesired longitudinal acceleration. The predictor is applied to predict the control error and the coupling interference. The predicted information, as compensation, is combined and fed to the speed controller and the steering controller. Simulation proves the PCHSCS can improve the vehicle handling stability under strong transient crosswind conditions.
{"title":"Predictive Compensation-Based Handling Stability Control Systems for Autonomous Vehicles under Transient Crosswind","authors":"Guo-Yong Huang, X. Yuan, Yaonan Wang","doi":"10.1109/CVCI51460.2020.9338642","DOIUrl":"https://doi.org/10.1109/CVCI51460.2020.9338642","url":null,"abstract":"The strong transient crosswind has huge impact on the driving state of the autonomous vehicles, which requires the control system with good handling stability. Here, a predictive compensation-based handling stability control system (PCHSCS) is developed. The PCHSCS includes three parts: a steering controller, a speed controller, and a predictor. The steering controller is adopted to control the course for resisting the lateral acceleration caused by the crosswind. The speed controller is utilized to maintain the vehicle speed, decreasing the undesired longitudinal acceleration. The predictor is applied to predict the control error and the coupling interference. The predicted information, as compensation, is combined and fed to the speed controller and the steering controller. Simulation proves the PCHSCS can improve the vehicle handling stability under strong transient crosswind conditions.","PeriodicalId":119721,"journal":{"name":"2020 4th CAA International Conference on Vehicular Control and Intelligence (CVCI)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2020-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129799402","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
As more and more electrical equipment is used in coal mines, ensuring the normal operation of mine explosion-proof mobile substations has become a top priority for coal mine safety managemen. We must ensure the mine explosion-proof mobile substations run without hitches for extended periods of time, and all the electrical equipments work safely and reliably, which finally guarantee that various tasks of coal mine can be completed well. This paper introduces the structure and basic principles of mine explosion-proof mobile substations, and reviews the common faults and solutions for mine explosion-proof mobile substations.
{"title":"A Review of Common Faults and Solution Strategies for Mine Explosion-Proof Mobile Substations","authors":"Hao Feng, Haiwang Wang, Weidong Lu, Wenya Chen, Jingzhong Wen, Hua Chen","doi":"10.1109/CVCI51460.2020.9338648","DOIUrl":"https://doi.org/10.1109/CVCI51460.2020.9338648","url":null,"abstract":"As more and more electrical equipment is used in coal mines, ensuring the normal operation of mine explosion-proof mobile substations has become a top priority for coal mine safety managemen. We must ensure the mine explosion-proof mobile substations run without hitches for extended periods of time, and all the electrical equipments work safely and reliably, which finally guarantee that various tasks of coal mine can be completed well. This paper introduces the structure and basic principles of mine explosion-proof mobile substations, and reviews the common faults and solutions for mine explosion-proof mobile substations.","PeriodicalId":119721,"journal":{"name":"2020 4th CAA International Conference on Vehicular Control and Intelligence (CVCI)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2020-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129492341","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-12-18DOI: 10.1109/CVCI51460.2020.9338652
Size Zheng, Beizhe Yuan, J. Ferreira, Tao Liu, Tong Li, Long He, Xinrui Wang
A belt-type passive exoskeleton equipped with multiple working modes has been designed to support the back muscles during manual lifting tasks. Our concept is to develop a wearable assistive device that can provide motion-based assistance like the existing passive devices in the down phase of lifting, but in the up phase, can supply more load-based power. To achieve this goal, we designed two purely mechanical control mechanisms that can preload the load-based assist force and release it when the wearer intends to erect the trunk. This paper presents mathematical proof using a linked segment model and moment balance equations in the sagittal plane. Simulation proof is also provided based on a simple musculoskeletal model which executed sagittal plane lifting with a 20kg load in hands in stoop posture under three different conditions (no assist, classic mode, enhanced mode). The subsequent results suggest that the device substantially reduces the muscle force and lumbar moment by 27.7-43.5%, and in the enhanced mode, the efficacy is better than the classic mode. No such a quasi-passive back-support exoskeleton was found at the time of writing. This design concept is promising to help reduce the risk of back injuries in heavy load lifting and works that need workers to keep a forward bending and static holding postures such as vehicle assembly.
{"title":"A Passive Lifting Assist Exoskeleton with Multiple Working Modes: Theoretical Evaluation and Design Concepts","authors":"Size Zheng, Beizhe Yuan, J. Ferreira, Tao Liu, Tong Li, Long He, Xinrui Wang","doi":"10.1109/CVCI51460.2020.9338652","DOIUrl":"https://doi.org/10.1109/CVCI51460.2020.9338652","url":null,"abstract":"A belt-type passive exoskeleton equipped with multiple working modes has been designed to support the back muscles during manual lifting tasks. Our concept is to develop a wearable assistive device that can provide motion-based assistance like the existing passive devices in the down phase of lifting, but in the up phase, can supply more load-based power. To achieve this goal, we designed two purely mechanical control mechanisms that can preload the load-based assist force and release it when the wearer intends to erect the trunk. This paper presents mathematical proof using a linked segment model and moment balance equations in the sagittal plane. Simulation proof is also provided based on a simple musculoskeletal model which executed sagittal plane lifting with a 20kg load in hands in stoop posture under three different conditions (no assist, classic mode, enhanced mode). The subsequent results suggest that the device substantially reduces the muscle force and lumbar moment by 27.7-43.5%, and in the enhanced mode, the efficacy is better than the classic mode. No such a quasi-passive back-support exoskeleton was found at the time of writing. This design concept is promising to help reduce the risk of back injuries in heavy load lifting and works that need workers to keep a forward bending and static holding postures such as vehicle assembly.","PeriodicalId":119721,"journal":{"name":"2020 4th CAA International Conference on Vehicular Control and Intelligence (CVCI)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2020-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121663295","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-12-18DOI: 10.1109/CVCI51460.2020.9338546
Chen Zhang, Bin Duan, Cheng Fu, Jinqiu Song, C. Zhang
Single-phase neutral point clamped rectifier (SP-NPCR) is getting much interest in 10 kV electric vehicle (EV) charging DC systems due to its low voltage stress on power switches. In order to achieve good tracking performance and anti-disturbance ability, a robust command-filtered backstepping control strategy of the SP-NPCR is proposed in this paper. Firstly, based on the SP-NPCR model in dq frame, the command-filtered backstepping controller is constructed, which compose of the output voltage controller and the reactive current controller. The command filter is used to meet the requirement of analytic differentiation of the virtual controller and simplify the controller structure. Then, the global stabilization of the SP-NPCR is conducted and proved by the Lyapunov stability theory. The simulation for SP-NPCR has been carried out to demonstrate that the proposed system has better dynamic property and robustness compared with the conventional proportional- Integral method.
{"title":"Command-filtered Backstepping Control for Single-phase NPC Rectifier","authors":"Chen Zhang, Bin Duan, Cheng Fu, Jinqiu Song, C. Zhang","doi":"10.1109/CVCI51460.2020.9338546","DOIUrl":"https://doi.org/10.1109/CVCI51460.2020.9338546","url":null,"abstract":"Single-phase neutral point clamped rectifier (SP-NPCR) is getting much interest in 10 kV electric vehicle (EV) charging DC systems due to its low voltage stress on power switches. In order to achieve good tracking performance and anti-disturbance ability, a robust command-filtered backstepping control strategy of the SP-NPCR is proposed in this paper. Firstly, based on the SP-NPCR model in dq frame, the command-filtered backstepping controller is constructed, which compose of the output voltage controller and the reactive current controller. The command filter is used to meet the requirement of analytic differentiation of the virtual controller and simplify the controller structure. Then, the global stabilization of the SP-NPCR is conducted and proved by the Lyapunov stability theory. The simulation for SP-NPCR has been carried out to demonstrate that the proposed system has better dynamic property and robustness compared with the conventional proportional- Integral method.","PeriodicalId":119721,"journal":{"name":"2020 4th CAA International Conference on Vehicular Control and Intelligence (CVCI)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2020-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130692647","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-12-18DOI: 10.1109/CVCI51460.2020.9338577
Songyuan Hua, Yongfu Li, Shuyou Yu
This study addresses the conundrum of the trajectory tracking control for a connected vehicle (CV) platoon on the straight road and curved road. To be specific, the communication topology of bidirectional leader-follower is used to describe the vehicles' communication connection in the vehicle- vehicle/vehicle- to-infrastructure (V2X) environment. Then, a nonlinear state feedback control algorithm for follower vehicles is put forward through merging the phenomenon of car-following interactions, the spacing error, velocity difference and angular difference in relation to the leader vehicle. The proposed algorithm's stability is verified by means of Lyapunov technique. And then, simulation experiments under two scenarios: the leader vehicle runs on the straight road and curved road, respectively, and the followers run after the leader vehicle. The numerical simulation results prove the effectiveness of the proposed control algorithm.
{"title":"Trajectory Tracking Control for Connected Vehicle Platoon under the Curved Road","authors":"Songyuan Hua, Yongfu Li, Shuyou Yu","doi":"10.1109/CVCI51460.2020.9338577","DOIUrl":"https://doi.org/10.1109/CVCI51460.2020.9338577","url":null,"abstract":"This study addresses the conundrum of the trajectory tracking control for a connected vehicle (CV) platoon on the straight road and curved road. To be specific, the communication topology of bidirectional leader-follower is used to describe the vehicles' communication connection in the vehicle- vehicle/vehicle- to-infrastructure (V2X) environment. Then, a nonlinear state feedback control algorithm for follower vehicles is put forward through merging the phenomenon of car-following interactions, the spacing error, velocity difference and angular difference in relation to the leader vehicle. The proposed algorithm's stability is verified by means of Lyapunov technique. And then, simulation experiments under two scenarios: the leader vehicle runs on the straight road and curved road, respectively, and the followers run after the leader vehicle. The numerical simulation results prove the effectiveness of the proposed control algorithm.","PeriodicalId":119721,"journal":{"name":"2020 4th CAA International Conference on Vehicular Control and Intelligence (CVCI)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2020-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125628829","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-12-18DOI: 10.1109/CVCI51460.2020.9338474
Xiaoyu Li, N. Xu, Jiameng Xu
Phase plane is a visualized method to analyze the vehicle lateral behavior. The envelope control based on the sideslip angle and yaw rate phase plane can effectively restrict the vehicle states in the safe operation region for ensuring the stability of the vehicle. However, In most of such control schemes, many stable regions are not included in the envelope such that the dynamic performance of the vehicle is largely constrained. To solve this problem, this paper proposes a novel envelope control scheme based on saddle nodes position. It improves the overshoot dynamics by incorporating more stable regions in yaw rate direction and thus, improving the dynamic performance and steering agility. The simulation results indicate that compared to the previous envelope schemes, the proposed one can effectively improve the dynamic performance of the vehicle under the condition of ensuring stability.
{"title":"A novel envelope stability control scheme based on phase plane with enhanced overshoot dynamics of vehicle","authors":"Xiaoyu Li, N. Xu, Jiameng Xu","doi":"10.1109/CVCI51460.2020.9338474","DOIUrl":"https://doi.org/10.1109/CVCI51460.2020.9338474","url":null,"abstract":"Phase plane is a visualized method to analyze the vehicle lateral behavior. The envelope control based on the sideslip angle and yaw rate phase plane can effectively restrict the vehicle states in the safe operation region for ensuring the stability of the vehicle. However, In most of such control schemes, many stable regions are not included in the envelope such that the dynamic performance of the vehicle is largely constrained. To solve this problem, this paper proposes a novel envelope control scheme based on saddle nodes position. It improves the overshoot dynamics by incorporating more stable regions in yaw rate direction and thus, improving the dynamic performance and steering agility. The simulation results indicate that compared to the previous envelope schemes, the proposed one can effectively improve the dynamic performance of the vehicle under the condition of ensuring stability.","PeriodicalId":119721,"journal":{"name":"2020 4th CAA International Conference on Vehicular Control and Intelligence (CVCI)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2020-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128734592","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In this study, a path tracking control method based on model predictive control (MPC) is presented to improve the results of path tracking. A simulation model of an automatic guided vehicle (AGV) is employed in a robot operating system (ROS). A collision free path is established with the ROS under the scene of continuous turning as a reference path. A linear MPC controller is used to control the AGV in the ROS, and a simulation experiment is performed with the combined simulation of ROS and MATLAB. Experimental results verify that the proposed MPC controller has a good tracking performance under complex road conditions.
{"title":"Model predictive control-based path tracking control for automatic guided vehicles","authors":"Haitian Xu, Zhixin Yu, Xiaohui Lu, Shuai Wang, Shaosong Li, Shujun Wang","doi":"10.1109/CVCI51460.2020.9338578","DOIUrl":"https://doi.org/10.1109/CVCI51460.2020.9338578","url":null,"abstract":"In this study, a path tracking control method based on model predictive control (MPC) is presented to improve the results of path tracking. A simulation model of an automatic guided vehicle (AGV) is employed in a robot operating system (ROS). A collision free path is established with the ROS under the scene of continuous turning as a reference path. A linear MPC controller is used to control the AGV in the ROS, and a simulation experiment is performed with the combined simulation of ROS and MATLAB. Experimental results verify that the proposed MPC controller has a good tracking performance under complex road conditions.","PeriodicalId":119721,"journal":{"name":"2020 4th CAA International Conference on Vehicular Control and Intelligence (CVCI)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2020-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117180111","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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