TY - GEN
T1 - Null-space behavioral approach for car-like vehicles with application to intelligent transportation system
AU - Arad, Itai
AU - Arogeti, Shai
N1 - Publisher Copyright: © software. © 2014 IEEE.
PY - 2014/1/1
Y1 - 2014/1/1
N2 - This paper presents a new control algorithm for the coordinated path following problem of car like vehicles. The vehicles are represented by an extended kinematic bicycle model which includes sideslip angles. A nonlinear control law has been designed using Lyapunov approach, and the controller implementation requires knowledge of sideslip angles. A Raghavan observer is introduced in order to observe the vehicle sideslip angles that are typically not directly measured in practice. Trajectory tracking tasks, such as, convergence to a desired path and moving at a desired speed, are defined, along with coordination objectives, such as collision avoidance. The main contribution of this paper stems from the inclusion of the extended kinematic bicycle model in the development, which provides a more accurate model at high speed maneuvers, and the expansion of the null space behavior (NSB) algorithm to the car-like vehicle.
AB - This paper presents a new control algorithm for the coordinated path following problem of car like vehicles. The vehicles are represented by an extended kinematic bicycle model which includes sideslip angles. A nonlinear control law has been designed using Lyapunov approach, and the controller implementation requires knowledge of sideslip angles. A Raghavan observer is introduced in order to observe the vehicle sideslip angles that are typically not directly measured in practice. Trajectory tracking tasks, such as, convergence to a desired path and moving at a desired speed, are defined, along with coordination objectives, such as collision avoidance. The main contribution of this paper stems from the inclusion of the extended kinematic bicycle model in the development, which provides a more accurate model at high speed maneuvers, and the expansion of the null space behavior (NSB) algorithm to the car-like vehicle.
KW - autonomous vehicle
KW - formation control
KW - intelligent transportation systems (ITS)
KW - null space behavioral control (NSB)
UR - http://www.scopus.com/inward/record.url?scp=84949925194&partnerID=8YFLogxK
U2 - https://doi.org/10.1109/ICARCV.2014.7064590
DO - https://doi.org/10.1109/ICARCV.2014.7064590
M3 - منشور من مؤتمر
T3 - 2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
SP - 1805
EP - 1810
BT - 2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
T2 - 2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
Y2 - 10 December 2014 through 12 December 2014
ER -