PATH TRACKING FOR THE CONVOY OF AUTONOMOUS VEHICLES BASED ON A NON-LINEAR PREDICTIVE CONTROL

SUIVI DE CHEMIN POUR LE CONVOI DE VÉHICULES AUTONOMES BASÉ SUR UN CONTRÔLE PRÉDICTIF NON LINÉAIRE

M-M Mohamed-Ahmed (1) , Aziz Naamane (1) , Nacer K M'Sirdi (1)

1 LIS - Laboratoire d'Informatique et des Systèmes (LIS) (Marseille, Toulon)

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.

Domaines: Automatique / Robotique

M-M Mohamed-Ahmed, Aziz Naamane, Nacer K M'Sirdi. PATH TRACKING FOR THE CONVOY OF AUTONOMOUS VEHICLES BASED ON A NON-LINEAR PREDICTIVE CONTROL. THE 12TH INTERNATIONAL CONFERENCE ON INTEGRATED MODELING AND ANALYSIS IN APPLIED CONTROL AND AUTOMATION, Sep 2019, Lisbonne, Portugal. ⟨hal-02479106⟩