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Experimental tests of autonomous ground vehicles with preview

  • Cunjia LiuEmail author
  • Wen-Hua Chen
  • John Andrews
Article

Abstract

This paper describes the design and experimental tests of a path planning and reference tracking algorithm for autonomous ground vehicles. The ground vehicles under consideration are equipped with forward looking sensors that provide a preview capability over a certain horizon. A two-level control framework is proposed for real-time implementation of the model predictive control (MPC) algorithm, where the high-level performs on-line optimization to generate the best possible local reference respect to various constraints and the low-level commands the vehicle to follow realistic trajectories generated by the high-level controller. The proposed control scheme is implemented on an indoor testbed through networks with satisfactory performance.

Keywords

Model predictive control autonomous vehicle online optimization nonholonomic constraint eigenvalue 

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Copyright information

© Institute of Automation, Chinese Academy of Sciences and Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  1. 1.Department of Aeronautical and Automotive EngineeringLoughborough UniversityLoughboroughUK
  2. 2.Nottingham Transportation Engineering Centre, Faculty of EngineeringUniversity of NottinghamNottinghamUK

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