Conference papers
PATH TRACKING FOR THE CONVOY OF AUTONOMOUS VEHICLES BASED ON A NON-LINEAR PREDICTIVE CONTROL
PATH TRACKING FOR THE CONVOY OF AUTONOMOUS VEHICLES BASED ON A NON-LINEAR PREDICTIVE CONTROL
Abstract : In this paper, a nonlinear predictive control of a platoon of several vehicles is proposed by using non-linear robotic form model of the vehicles. The model used represents the longitudinal, lateral and yaw movement for each vehicle in the fleet. This control approach allows controlling the fleet, uses the available information, ensures a safe distance between vehicles to avoid collisions and follows the path of the leader. The robustness of the control will be studied in order to assess the different errors occurring in the estimated parameters values.
Cited literature [16 references]
https://hal-amu.archives-ouvertes.fr/hal-02479106
Contributor : Mohamed Mahmoud Mohamed Ahmed Connect in order to contact the contributor
Submitted on : Friday, February 14, 2020 - 12:27:23 PM
Last modification on : Wednesday, November 3, 2021 - 5:50:45 AM
Long-term archiving on: : Friday, May 15, 2020 - 3:05:43 PM
Contributor : Mohamed Mahmoud Mohamed Ahmed Connect in order to contact the contributor
Submitted on : Friday, February 14, 2020 - 12:27:23 PM
Last modification on : Wednesday, November 3, 2021 - 5:50:45 AM
Long-term archiving on: : Friday, May 15, 2020 - 3:05:43 PM
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IMAACA_2019_Mohamed_Ahmed.pdf
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