A Predictive Controller for Autonomous Vehicle Path Tracking

被引：255

作者：

Raffo, Guilherme V. ^{[1
]}

Gomes, Guilherme K. ^{[1
]}

Normey-Rico, Julio E. ^{[1
]}

Kelber, Christian R. ^{[2
]}

Becker, Leandro B. ^{[1
]}

机构：

[1] Univ Fed Santa Catarina, Dept Automat & Syst Engn, BR-88040900 Florianopolis, SC, Brazil

[2] DHB Componentes Automat SA, Dept Adv Engn, BR-90200290 Porto Alegre, RS, Brazil

来源：

IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS | 2009年 / 10卷 / 01期

关键词：

Autonomous vehicle; path following; predictive control; TRAJECTORY-TRACKING; MOBILE;

D O I：

10.1109/TITS.2008.2011697

中图分类号：

TU [建筑科学];

学科分类号：

0813 ;

摘要：

This paper presents a model predictive controller (MPC) structure for solving the path-tracking problem of terrestrial autonomous vehicles. To achieve the desired performance during high-speed driving, the controller architecture considers both the kinematic and the dynamic control in a cascade structure. Our study contains a comparative study between two kinematic linear predictive control strategies: The first strategy is based on the successive linearization concept, and the other strategy combines a local reference frame with an approaching path strategy. Our goal is to search for the strategy that best comprises the performance and hardware-cost criteria. For the dynamic controller, a decentralized predictive controller based on a linearized model of the vehicle is used. Practical experiments obtained using an autonomous "Mini-Baja" vehicle equipped with an embedded computing system are presented. These results confirm that the proposed MPC structure is the solution that better matches the target criteria.

引用

页码：92 / 102

页数：11

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