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Optimisation based control framework for autonomous vehicles: algorithm and experiment
conference contribution
posted on 2011-01-13, 12:44 authored by Cunjia LiuCunjia Liu, Wen-Hua ChenWen-Hua Chen, J.D. AndrewsThis paper addresses both path tracking and local
trajectory generation for autonomous ground vehicles. An optimisation
based two-level control framework is proposed for this
task. The high-level control operates in a receding horizon fashion
by taking into account real-time sensory information. It generates
a feasible trajectory satisfying the nonlinear vehicle model and
various constraints, and resolves possible short term conflicts
through on-line optimisation. The low-level controller drives the
vehicle tracking the local trajectory in the presence of uncertainty
and disturbance. It is shown that the time varying controller
proposed in this paper guarantees stability under all possible
trajectories. The two-level control structure significantly facilitates
the real-time implementation of optimisation based control
techniques on systems with fast dynamics such as autonomous
vehicle systems. The proposed technique is implemented on a
small-scale autonomous vehicle in the lab. Both simulation and
experimental results demonstrate the efficiency of the proposed
technique.
History
School
- Aeronautical, Automotive, Chemical and Materials Engineering
Department
- Aeronautical and Automotive Engineering
Citation
LIU, C., CHEN, W-H. and ANDREWS, J., 2010. Optimisation based control framework for autonomous vehicles: algorithm and experiment. IN: International Conference on Mechatronics and Automation (ICMA), Xi'an China, 4-7 Aug. 7pp.Publisher
© IEEEVersion
- VoR (Version of Record)
Publication date
2010Notes
This is a conference paper [© IEEE]. It is also available at: http://ieeexplore.ieee.org/ Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.ISBN
9781424451401Publisher version
Language
- en