Skip to Main content Skip to Navigation
Conference papers

Non-linear Control based on State Estimation for the Convoy of Autonomous Vehicles

Abstract : In this paper, a longitudinal and lateral control approach based on a nonlinear observer is proposed for a convoy of autonomous vehicles to follow a desired trajectory. To authors best knowledge, this topic has not yet been sufficiently addressed in the literature. The modeling of the vehicles convoy is revisited using robotic method, for simulation purposes and control design. With these models, a sliding mode observer is proposed to estimate the states of each vehicle in the convoy from the available sensors, then a sliding mode control based on this observer is used to control the longitudinal and lateral movement. The validation and performance evaluation are done using the well-known driving simulator Scanner-Studio. The results are presented for different maneuvers of 5 vehicles.
Document type :
Conference papers
Complete list of metadatas

Cited literature [21 references]  Display  Hide  Download

https://hal-amu.archives-ouvertes.fr/hal-02488603
Contributor : Mohamed Mahmoud Mohamed Ahmed <>
Submitted on : Sunday, February 23, 2020 - 4:10:45 AM
Last modification on : Tuesday, February 25, 2020 - 1:32:22 AM
Long-term archiving on: : Sunday, May 24, 2020 - 12:37:01 PM

File

Mohamed_Ahmed_ICCARV_2020.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : hal-02488603, version 1

Collections

Citation

M-M Mohamed-Ahmed, Nacer M'sirdi, Aziz Naamane. Non-linear Control based on State Estimation for the Convoy of Autonomous Vehicles. XIV. International Conference on Control Automation Robotics and Vision, Feb 2020, BARCELONA, Spain. ⟨hal-02488603⟩

Share

Metrics

Record views

113

Files downloads

25