Papers by Keyword: Path Following

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Authors: Dong Yue Qu, Yong Zhan
Abstract: This paper discusses the structure of wheel mobile robot, dynamics model and control model are developed. The method is tested by computer simulation, which is used to control the wheel mobile robot to follow straightaway and circle path, and numerical results show good result.
Authors: Peng Liu, Sheng Dong Liu, Zhneg Zhao, Jia Qi Liu
Abstract: A frequency identification modeling method for a small UAV helicopter and its control system design is presented. A modified frequency identification method for a state-space model of helicopter is presented. The overall concept is to extract a complete set of non-parametric input-to-output frequency responses that fully characterizes the coupled helicopter dynamics, conduct a nonlinear search based on secant method for a linear state-space model that matches the frequency-response data set. The accuracy of the identified model is verified by flight experiments. A path following controller is presented for an unmanned helicopter with two-loop control frame. The outer-loop is used to obtain the expected attitude angles through reference path and speed with guidance-based path following control, and the inner-loop is used to control the attitude angles of helicopter tracking the expected ones with loop shaping method. Finally, an 8 trajectory tracking simulation is conducted to illustrate the efficiency of the proposed control method.
Authors: Teodora Gîrbacia, Andrei Margarit, Simion Mădălin, Gheorghe Mogan
Abstract: For autonomous vehicles an important problem is to plan and accurately follow the optimal trajectory between the start point and the target, without collision with the obstacles placed in the environment. In order to obtain a continuous motion along the planned path for a vehicle with navigation assistants, especially when avoiding obstacles, the transition between a straight segment and circle arcs has to be done through using an additional curve. This paper present an algorithm based on clothoid curves for optimal steering using as case a vehicle with navigation assistants. The developed algorithm has been tested in a real environment and results have been presented.
Authors: Kiattisin Kanjanawanishkul
Abstract: In this paper, we propose a novel controller based on contractive model predictive control for the path following problem of a mobile robot. Besides dealing with path following, we also fulfill the following objectives: bounded control signals and optimal forward velocity. These three objectives are all achieved through integrating into our model predictive control framework as constraints. However, the major concern in the use of model predictive control is whether such an open-loop control scheme can guarantee system stability. In this case, we apply the idea of a contractive constraint to guarantee the stability of our MPC framework. To illustrate its effectiveness, several simulation scenarios have been conducted.
Authors: Jin Hua Ye, Di Li, Shi Yong Wang, Feng Ye
Abstract: This paper develops a high performance guidance controller for automated guided vehicle (AGV) with nonholonomic constraint. In this controller, the path following method in the Serret-Frenet frame is used for driving the AGV onto a predefined path at a constant forward speed. Moreover, a first order dynamic sliding mode controller is proposed, not only to overcome the impact of unknown model uncertainties and external disturbances of the system, but also to weaken the chattering in the standard sliding mode control. The global asymptotic stability and robustness of the system is proven by the Lyapunov theory and LaSalles invariance principle. Simulation results show the validity of the proposed guidance control scheme.
Authors: Yu Ling Ye
Abstract: An engineering approach of path following control for the type of under-actuated AUV, such as REMUS, was proposed. The path following control was separated into 2 parts: heading guidance and heading control. The heading guidance was designed based on the cross-track error and line of sight guidance, and sideslip angle was proposed to compensate the disturbance of the ocean current. The turning criterion was proposed when the vehicle approach the waypoint. A PD control algorithm was presented to the heading control and its parameters variable with the speed. Simulation and field experiments data show that the vehicle follows the path accurately in the environment of current and different speed, and the vertical rudder keeps steady without large scope and high frequency oscillation which is fit for the long-time working AUV. Engineers can debug the parameters based on the experiment data efficiently for their explicit physical meaning.
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