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Please use this identifier to cite or link to this item: https://dspace.lboro.ac.uk/2134/11132

Title: Experimental tests of autonomous ground vehicles with preview
Authors: Liu, Cunjia
Chen, Wen-Hua
Andrews, J.D.
Keywords: Model predictive control
Autonomous vehicle
Online optimization
Issue Date: 2010
Publisher: © Springer Verlag and Institute of Automation, Chinese Academy of Sciences
Citation: LIU, C., CHEN, W-H and ANDREWS, J.D., 2010. Experimental tests of autonomous ground vehicles with preview. International Journal of Automation and Computing, 7 (3), pp. 342 - 348
Abstract: This paper describes the design and experimental tests of a path planning and reference tracking algorithm for autonomous ground vehicles. The ground vehicles under consideration are equipped with forward looking sensors that provide a preview capability over a certain horizon. A two-level control framework is proposed for real-time implementation of the model predictive control (MPC) algorithm, where the high-level performs on-line optimization to generate the best possible local reference respect to various constraints and the low-level commands the vehicle to follow realistic trajectories generated by the high-level controller. The proposed control scheme is implemented on an indoor testbed through networks with satisfactory performance.
Description: This article was published in the International Journal of Automation and Computing [© Springer Verlag and the Institute of Automation, Chinese Academy of Sciences ]. The definitive version is available at: http://link.springer.com/article/10.1007%2Fs11633-010-0513-9?LI=true#. The final publication is available at www.springerlink.com.
Version: Accepted for publication
DOI: 10.1007/s11633-010-0513-9
URI: https://dspace.lboro.ac.uk/2134/11132
Publisher Link: http://link.springer.com/article/10.1007%2Fs11633-010-0513-9?LI=true#
ISSN: 1476-8186
Appears in Collections:Published Articles (Aeronautical and Automotive Engineering)

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