Automotive Science and Engineering
Iran University of Science & Technology
Wed, Dec 4, 2024
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Volume 14, Issue 1 (3-2024)
ASE 2024, 14(1): 4304-4315 |
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Managheb S A M, Rahmanei H, Ghaffari A. Nonlinear Predictive Planning and Control of the Turn-around Task in Autonomous Vehicles. ASE 2024; 14 (1) :4304-4315
URL: http://www.iust.ac.ir/ijae/article-1-663-en.html
URL: http://www.iust.ac.ir/ijae/article-1-663-en.html
K.N.Toosi university of technology
Abstract: (6319 Views)
The turn-around task is one of the challenging maneuvers in automated driving which requires intricate decision making, planning and control, concomitantly. During automatic turn-around maneuver, the path curvature is too large which makes the constraints of the system severely restrain the path tracking performance. This paper highlights the path planning and control design for single and multi-point turn of autonomous vehicles. The preliminaries of the turn-around task including environment, vehicle modeling, and equipment are described. Then, a predictive approach is proposed for planning and control of the vehicle. In this approach, by taking the observation of the road and vehicle conditions into account and considering the actuator constraints in cost function, a decision is made regarding the minimum number of steering to execute turn-around. The constraints are imposed on the speed, steering angle, and their rates. Moreover, the collision avoidance with road boundaries is developed based on the GJK algorithm. According to the simulation results, the proposed system adopts the minimum number of appropriate steering commands while incorporating the constraints of the actuators and avoiding collisions. The findings demonstrate the good performance of the proposed approach in both path design and tracking for single- and multi-point turns.
Keywords: Autonomous Vehicles, Collision Avoidance, Multi-point turn maneuver, Nonlinear Model Predictive control, Path Planning, Turn-around Task
Type of Study: Research |
Subject:
Autonomous vehicles
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