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A Simple and Robust Path Follower
Technical Paper
2010-01-0717
ISSN: 0148-7191, e-ISSN: 2688-3627
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English
Abstract
A simple and robust path follower has been developed for use in road loads simulations as required for virtual evaluation of vehicle durability and strength. The path follower is described as simple because it has a single tunable parameter and minimal control logic. It is deemed robust because the same gain setting can be used over a wide range of terrains, paths, and speeds. Path following performance is successfully demonstrated with a multibody vehicle model of a generic heavy truck for a variety of terrains, paths, and speeds. The convergence to the desired path during parameter tuning is observed to be monotonic. A physical interpretation of the gain as a maximum centripetal acceleration further enables vehicles in the same or similar classes of mobility characteristics (all off-road trucks for example) to utilize the same gain value.
Authors
Citation
Critchley, J. and Jayakumar, P., "A Simple and Robust Path Follower," SAE Technical Paper 2010-01-0717, 2010, https://doi.org/10.4271/2010-01-0717.Also In
References
- Purushothaman, N. Jayakumar, P. Critchley, J. Datta, S. Pisipati, V. “A Robust Durability Process for Military Ground Vehicles,” 2009 Ground Vehicle Systems Engineering and Technology Symposiums (GVSETS) USA August 18-20 2009
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- MSC Software “Automated Dynamics Analysis of Mechanical Systems (ADAMS),” Santa Ana, CA http://www.mscsoftware.com.
- MSC Software “ADAMS/SmartDriver,” Santa Ana, CA http://www.mscsoftware.com/