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

Itai Arad; Shai Arogeti

doi:10.1109/ICARCV.2014.7064590

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

Itai Arad
, Shai Arogeti

Department of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-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 language	English
Title of host publication	2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
Publisher	Institute of Electrical and Electronics Engineers
Pages	1805-1810
Number of pages	6
ISBN (Electronic)	9781479951994
DOIs	https://doi.org/10.1109/ICARCV.2014.7064590
State	Published - 1 Jan 2014
Event	13th International Conference on Control Automation Robotics and Vision, ICARCV 2014 - Singapore, Singapore Duration: 10 Dec 2014 → 12 Dec 2014

Publication series

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

Conference

Conference	13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
Country/Territory	Singapore
City	Singapore
Period	10/12/14 → 12/12/14

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 3 Good Health and Well-being
SDG 11 Sustainable Cities and Communities

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

Access to Document

10.1109/ICARCV.2014.7064590

Cite this

Arad, I., & Arogeti, S. (2014). Null-space behavioral approach for car-like vehicles with application to intelligent transportation system. In 2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014 (pp. 1805-1810). Article 7064590 (2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014). Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/ICARCV.2014.7064590

Arad, Itai ; Arogeti, Shai. / Null-space behavioral approach for car-like vehicles with application to intelligent transportation system. 2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014. Institute of Electrical and Electronics Engineers, 2014. pp. 1805-1810 (2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014).

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title = "Null-space behavioral approach for car-like vehicles with application to intelligent transportation system",

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.",

keywords = "autonomous vehicle, formation control, intelligent transportation systems (ITS), null space behavioral control (NSB)",

author = "Itai Arad and Shai Arogeti",

note = "Publisher Copyright: {\textcopyright} software. {\textcopyright} 2014 IEEE.; 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014 ; Conference date: 10-12-2014 Through 12-12-2014",

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language = "English",

series = "2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014",

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Arad, I & Arogeti, S 2014, Null-space behavioral approach for car-like vehicles with application to intelligent transportation system. in 2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014., 7064590, 2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014, Institute of Electrical and Electronics Engineers, pp. 1805-1810, 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014, Singapore, Singapore, 10/12/14. https://doi.org/10.1109/ICARCV.2014.7064590

Null-space behavioral approach for car-like vehicles with application to intelligent transportation system. / Arad, Itai; Arogeti, Shai.
2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014. Institute of Electrical and Electronics Engineers, 2014. p. 1805-1810 7064590 (2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Arogeti, Shai

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N2 - 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.

AB - 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.

KW - autonomous vehicle

KW - formation control

KW - intelligent transportation systems (ITS)

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

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Arad I, Arogeti S. Null-space behavioral approach for car-like vehicles with application to intelligent transportation system. In 2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014. Institute of Electrical and Electronics Engineers. 2014. p. 1805-1810. 7064590. (2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014). doi: 10.1109/ICARCV.2014.7064590

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

Abstract

Publication series

Conference

UN SDGs

Keywords

ASJC Scopus subject areas

Access to Document

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Cite this