Coordinated Tracking Control and Obstacle Avoidance for Underactuated Autonomous Vehicles

نویسنده

  • Reza A. Soltan
چکیده

3 Acknowledgement 4 Table of

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Obstacle avoidance for an autonomous vehicle using force field method

This paper presents a force field concept for guiding a vehicle at a high speed maneuver. This method is  similar to potential field method. In this paper, motion constrains like vehicles velocity, distance to obstacle and tire conditions and such lane change conditions as zero slop condition and zero lateral acceleration are discussed. After that, possible equations as vehicles path ar...

متن کامل

4TH EUROPEAN CONFERENCE FOR AEROSPACE SCIENCES A practical receding horizon control framework for path planning and control of autonomous VTOL vehicles

This paper describes an integrated path planning and tracking control framework for autonomous verticaltake-off-and-landing (VTOL) vehicles, specially a quadrotor. The path planning adopts a receding horizon strategy to repeatedly plan a local trajectory that satisfies the vehicle dynamics and obstacle avoidance requirement. A tracking controller is then designed to track the optimised path. Th...

متن کامل

Adaptive Robust Control for Trajectory Tracking of Autonomous underwater Vehicles on Horizontal Plane

This manuscript addresses trajectory tracking problem of autonomous underwater vehicles (AUVs) on the horizontal plane. Adaptive sliding mode control is employed in order to achieve a robust behavior against some uncertainty and ocean current disturbances, assuming that disturbance and its derivative are bounded by unknown boundary levels. The proposed approach is based on a dual layer adaptive...

متن کامل

Spatial Predictive Control for Agile Semi-Autonomous Ground Vehicles

This paper presents a formulation to the obstacle avoidance problem for semi-autonomous ground vehicles. The planning and tracking problems have been divided into a two-level hierarchical controller. The high level solves a nonlinear model predictive control problem to generate a feasible and obstacle free path. It uses a nonlinear vehicle model and utilizes a coordinate transformation which us...

متن کامل

Toward an Hybrid Control Architecture for a Mobile Multi

Hybrid architecture for autonomous navigation robots is presented in this paper. The principal future aim of this architecture is to achieve multi-robot convoy which must navigate in urban background, where autonomous vehicles have to track the desired trajectory while avoiding possible obstacles (walkers, other robots, etc.). Currently, we consider only the case of fixed obstacles. We propose ...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

عنوان ژورنال:

دوره   شماره 

صفحات  -

تاریخ انتشار 2009