This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Stability Criteria for Accurate Path Tracking in Automated Guided Vehicle Systems
Technical Paper
2021-01-0093
ISSN: 0148-7191, e-ISSN: 2688-3627
This content contains downloadable datasets
Annotation ability available
Sector:
Event:
SAE WCX Digital Summit
Language:
English
Abstract
Satisfactory performance of intelligent vehicles systems in tracking a predefined trajectory requires an efficient control scheme to generate steering control signals from posture errors (i.e., errors in position and orientation). For such systems, it is necessary at each instant to control steering action so that any deviation from the path is corrected in a stable manner, in a reasonable time and without any oscillation about the desired path. This paper deals with stability of motion and motion control of intelligent vehicle systems. In this regard, the general control structure and specification of an optimum range of predefined control parameters for accurate path tracking of these systems are determined. A two degree of freedom (DOF) nonlinear dynamic model is developed to represent their plane motion. Path tracking of the vehicle is attained by controlling the position and orientation errors about the trajectory, which is accomplished by modifying the steering input signal on the basis of error feedbacks to the controller. Employment of various stability criteria and other constraints such as applying the physical limits of the vehicle to the controlled system narrows down the range of control parameters, within which the controlled system would remain stable. Experimental results demonstrating the performance of the system are reported.
Authors
Citation
Mehrabi, M., "Stability Criteria for Accurate Path Tracking in Automated Guided Vehicle Systems," SAE Technical Paper 2021-01-0093, 2021, https://doi.org/10.4271/2021-01-0093.Data Sets - Support Documents
Title | Description | Download |
---|---|---|
Unnamed Dataset 1 |
Also In
References
- Levinson , J. , Askeland , J. , Becker , J. , Dolson , J. , Held , D. , Kammel , S. , Kolter , J. , Langer , D. , Pink , O. , Pratt , V. , Sokolsky , M. , Stanek , G. , Stavens , D. , Teichman , A. , Werling , M. , and Thrun , S. Higher-Order Sliding Mode Control for Lateral Dynamics of Autonomous Vehicles with Experimental Validation Proc. of IEEE Intelligent Vehicles Symposium 2011 163 168
- Dominguez , S. , Ali , A. , Garcia , G. , and Martinet , P. Comparison of Lateral Controllers for Autonomous Vehicle: Experimental Results Proc. Of IEEE Conference on Intelligent Transportation Systems 1418 1423 2016
- Nisonger , R.L. , and Wormley , D.N. Dynamic Performance of Automated Guide-Way Transit Vehicles with Dual-Axle Steering IEEE Tran. on Vehicular Tech. VT-28 1 88 94 1979
- Shim , T. , and Margolis , D. Using μ Feed forward for Vehicle Stability Enhancement Vehicles System Dynamics 35 2 103 119 2001
- Canudas de Wit , C. and Roskam , R. Path Following of a 2-DOF Wheeled Mobile Robot Under Path and Input Torque Constraints IEEE Int. Conf. on Robotics and Automation 1991 Sacramento, California 1142 1147
- Gordon , T. , Howell , M. , and Brandao , F. Integrated Control Methodologies for Road Vehicles Vehicle System Dynamics 40 1-3 157 190 2003
- Hatipoglu , U.O. , and Redmill , K. Automated Lane Change Controller Design IEEE Transactions on Intelligent Transportation Systems 4 1 13 22 2003
- Kanayama , Y. , Kimura , Y. , Miyazaki , F. and Noguchi , T. A Stable Tracking Control Method for an Autonomous Mobile Robot Proc. of the IEEE Conf. on Robotics and Automation Cincinnati, Ohio 384 390 1990
- Dadras , S. Path Tracking using Fractional Order Extremum Seeking Controller for Autonomous Ground Vehicle SAE Technical Paper 2017-01-0094 2017
- Guo , H. , Shen , C. , Zhong , H. , Chen , H. , and Jia , R. Simultaneous Trajectory Planning and Tracking Using an MPC Method for Cyber-Physical Systems: A Case Study of Obstacle Avoidance for an Intelligent Vehicle IEEE Transactions on Industrial Informatic 14 9 2018
- Cheng , R.M.H. and Mehrabi , M.G. Dynamic Modeling of Wheeled Mobile Robots and Automated Transit Vehicles Using Dimensionless ‘Roll Number’ The 1st IEEE Conf. on Control Applications 1992 Dayton, Ohio 160 167
- Hemami , A. , Mehrabi , M.G. , and Cheng , R.M.H. Synthesis of an Optimal Control Law for Path Tracking in Mobile Robots and Automated Guided Vehicles Automatica 28 2 383 387 1992
- Mehrabi , M. Development of a Control Strategy for Accurate Path Tracking of Intelligent Vehicles SAE Technical Paper 2019-01-0677 2019
- D’Andrea-Novel , B.G. , Bastin , G. and Camion , G. Modeling and Control of Non-Holonomic Wheeled Mobile Robots Proc. of the IEEE Int. Conf. on Robotics and Automation 2 1130 1135 Sacramento, California 1991
- Muir , P.F. and Neuman , C.P. Kinematic Modeling of Automated Guided Vehicles Technical Report No. CMU-RI-TR-86-12 The Robotic Institute, Carnegie-Mellon University, PA 1986
- Muir , P.F. , and Neuman , C.P. Kinematic Modeling of Wheeled Mobile Robots J. of Robotic Systems 4 2 281 340 1987a
- Saha , S.K. and Angeles , J. Kinematics and Dynamics of a Three-Wheeled 2-DOF AGV Proc. of the IEEE Int. Conf. on Robotics and Automation 3 1572 1577 Scottsdale, Arizona 1989
- Tagne , G. , Talj , R. , and Charara , A. Higher-Order Sliding Mode Controlfor Lateral Dynamics of Autonomous Vehicles, with Experimental Validation Proc. of IEEE Intelligent Vehicles Symposium 678 683 2013
- Perez , J. , Milanes , V. , and Onieva , E. Combined Longitudinal and Lateral Control for Automated Vehicle Guidance Vehicle System Dynamics 2012 52 2 261 279
- Gutjahr , B. , Gröll , L. , and Werling , M. Lateral Vehicle Trajectory Optimization using Constrained Linear Time-Varying MPC IEEE Transactions on Intelligent Transportation Systems 18 6 1586 1595 2017
- Shladover , S.E. , Wormley , D.N. , and Richardson , H.H. and R. Fish, “Steering Controller Design for Automated Guide-Way Transit Vehicles” ASME J. of Dyn. Sys. Measurement and Control 100 1 8 1978