Null-space behavioral approach for car-like vehicles with application to intelligent transportation system

Itai Arad, Shai Arogeti

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

This paper presents a new control algorithm for the coordinated path following problem of car like vehicles. The vehicles are represented by an extended kinematic bicycle model which includes sideslip angles. A nonlinear control law has been designed using Lyapunov approach, and the controller implementation requires knowledge of sideslip angles. A Raghavan observer is introduced in order to observe the vehicle sideslip angles that are typically not directly measured in practice. Trajectory tracking tasks, such as, convergence to a desired path and moving at a desired speed, are defined, along with coordination objectives, such as collision avoidance. The main contribution of this paper stems from the inclusion of the extended kinematic bicycle model in the development, which provides a more accurate model at high speed maneuvers, and the expansion of the null space behavior (NSB) algorithm to the car-like vehicle.

Original languageEnglish
Title of host publication2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1805-1810
Number of pages6
ISBN (Electronic)9781479951994
DOIs
StatePublished - 1 Jan 2014
Event2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014 - Singapore, Singapore
Duration: 10 Dec 201412 Dec 2014

Publication series

Name2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014

Conference

Conference2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
Country/TerritorySingapore
CitySingapore
Period10/12/1412/12/14

Keywords

  • autonomous vehicle
  • formation control
  • intelligent transportation systems (ITS)
  • null space behavioral control (NSB)

ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Artificial Intelligence
  • Control and Systems Engineering

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