scholarly journals Driverless Bus Path Tracking Based on Fuzzy Pure Pursuit Control with a Front Axle Reference

2019 ◽  
Vol 10 (1) ◽  
pp. 230 ◽  
Author(s):  
Lingli Yu ◽  
Xiaoxin Yan ◽  
Zongxu Kuang ◽  
Baifan Chen ◽  
Yuqian Zhao
Keyword(s):  
Feedforward Control ◽  
Forward Direction ◽  
Front Axle ◽  
Path Tracking ◽  
Tuning Method ◽  
Tracking Controller ◽  
Pursuit Control ◽  
Pure Pursuit ◽  
The Stability ◽  
Fuzzy Parameter

Currently, since the model of a driverless bus is not clear, it is difficult for most traditional path tracking methods to achieve a trade-off between accuracy and stability, especially in the case of driverless buses. In terms of solving this problem, a path-tracking controller based on a Fuzzy Pure Pursuit Control with a Front Axle Reference (FPPC-FAR) is proposed in this paper. Firstly, the reference point of Pure Pursuit is moved from the rear axle to the front axle. It relieves the influence caused by the ignorance of the bus’s lateral dynamic characteristics and improves the stability of Pure Pursuit. Secondly, a fuzzy parameter self-tuning method is applied to improve the accuracy and robustness of the path-tracking controller. Thirdly, a feedback-feedforward control algorithm is devised for velocity control, which enhances the velocity tracking efficiency. The proportional-integral (PI) controller is indicated for feedback control, and the gravity acceleration component in the car’s forward direction is used in feedforward control. Finally, a series of experiments is conducted to illustrate the excellent performances of proposed methods.

scholarly journals Steering Wheel AGV Path Tracking Control Based on Improved Pure Pursuit Model

2021 ◽  
Vol 2093 (1) ◽  
pp. 012005
Author(s):  
Yiyang Wu ◽  
Zhijiang Xie ◽  
Ye Lu
Keyword(s):  
Control Strategy ◽  
Fitness Function ◽  
Path Tracking ◽  
Current Speed ◽  
Steering Wheel ◽  
Tracking Accuracy ◽  
Reference Path ◽  
Optical Module ◽  
Pursuit Control ◽  
Pure Pursuit

Abstract Aiming at the path tracking problem of the AGV transfer platform of an Optical module installing and calibrating system, this paper designs a pure pursuit control strategy in which the preview distance changes adaptively according to the current speed of AGV and the curvature of the reference path. Firstly, AGV kinematics model and pure pursuit model are established according to the geometric relationship. Then fitness function is established with tracking deviation and steering stability, and Particle swarm optimization (PSO) algorithm is used to optimize the preview distance of pure pursuit model of AGV under various working conditions. During the tracking process, AGV selects the optimal preview distance according to the curvature of the reference path and the current speed. The simulation experiment results show that the improved pure pursuit control strategy containing curvature information of reference path can improve the adaptability of AGV when it is tracking complex path, guaranteeing tracking accuracy and steering stability.

Practical design and implementation of an autonomous surface vessel prototype: Navigation and control

2020 ◽  
Vol 17 (3) ◽  
pp. 172988142091994
Author(s):  
Xinhua Tang ◽  
Zhonghai Pei ◽  
Shiming Yin ◽  
Cong Li ◽  
Peng Wang ◽  
...  
Keyword(s):  
Geometrical Model ◽  
Path Tracking ◽  
Practical Application ◽  
Surface Vessels ◽  
Practical Design ◽  
Pure Pursuit ◽  
Simple Geometrical Model ◽  
The Stability ◽  
And Control ◽  
Surface Vessel

As the development of multidisciplinary techniques and ever-growing demands, autonomous system has been widely investigated in a variety of fields. In recent two decades, autonomous surface vessels have gained increasing attention from both industry and research communities, previous related work mainly focuses on the design of maneuver controllers, most algorithms are under some specific assumptions and always involve too many parameters that need to be tuned, leading to the lack of practical application or validation in real autonomous surface vessel platform. To tackle the issues, an integrated autonomous surface vessel prototype is designed and implemented, both navigation and maneuver control subsystems are improved, especially in terms of autonomous control, a simple geometrical model and constrained pure pursuit algorithm is firstly tried in autonomous surface vessel, the results show that the proposed system can achieve the path tracking with the error smaller than 40 cm, and even given a complicated waypoint mission, it can still maintain the accuracy of path tracking, demonstrating the stability and validity of the autonomous surface vessel prototype.

Research on automatic parking system based on linear quadratic regulator

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Yan Qian ◽  
Zhaoqiang Wang ◽  
Wei Liang ◽  
Chenhui Lu
Keyword(s):  
Feedback Control ◽  
Simulation Analysis ◽  
Feedforward Control ◽  
Linear Quadratic Regulator ◽  
Path Tracking ◽  
Linear Quadratic ◽  
Content Type ◽  
Tracking Controller ◽  
Automatic Parking ◽  
Continuous Curvature

PurposeThe purpose of this study is to solve the problem of path planning and path tracking in the automatic parking assistant system.Design/methodology/approachThis paper first uses the method of reverse driving to confirm few control points based on the constraints of the construction of the vehicle and the environment information, then a reference path with free-collision and continuous curvature is designed based on the Bézier curve. According to the principle of the discrete linear quadratic regulator (LQR), a tracking controller that combines feedforward control and feedback control is designed.FindingsFinally, simulation analysis are carried out in Simulink and CARSIM. The results show that the proposed method can obtain a better path tracking effect when the parking space size is appropriate.Originality/valueAccording to the principle of the discrete LQR, a tracking controller that combines feedforward control and feedback control is designed.

Gaussian Kernel Controller for Path Tracking in Mobile Robots

2018 ◽  
Author(s):  
Bijo Sebastian ◽  
Adam Williams ◽  
Pinhas Ben-Tzvi
Keyword(s):  
Mobile Robots ◽  
Real Life ◽  
Path Tracking ◽  
Gaussian Kernel ◽  
Robot Motion ◽  
Future Directions ◽  
Gaussian Kernels ◽  
Smooth Motion ◽  
Tracking Controller ◽  
Pure Pursuit

This paper describes the design of a Gaussian kernel based path tracking controller for mobile robots. In order to achieve successful navigation under hybrid navigation architectures, it is critical for the robot to follow the path provided by a highlevel planner even while moving between waypoints. This is particularly difficult in real life situations involving robot motion in challenging terrains. Existing controllers for this purpose such as the pure pursuit does not ensure smooth motion of the robot or accurate tracking while moving between path segments. This paper describes the design of a controller that can ensure accurate path tracking even in the presence of disturbances, by utilizing the gradients of moving Gaussian kernels. In order to characterize the performance of the proposed controller, two different sets of simulations are conducted. Based on the results of the simulations, the Gaussian kernel controller ensures accurate tracking of the provided reference path while addressing the shortcomings of existing controllers. The paper concludes with a discussion on future directions for improvement.

scholarly journals Control Design and Assessment for a Reversing Tractor–Trailer System Using a Cascade Controller

2021 ◽  
Vol 11 (22) ◽  
pp. 10634
Author(s):  
Abdullah Aldughaiyem ◽  
Yasser Bin Salamah ◽  
Irfan Ahmad
Keyword(s):  
Control Design ◽  
Path Tracking ◽  
The Other ◽  
Successful Implementation ◽  
Potential Reduction ◽  
Articulated Vehicle ◽  
Tracking Controller ◽  
Lateral Distance ◽  
Shipping Cost ◽  
The Stability

In recent years, control design for unmanned systems, especially a tractor–trailer system, has gained popularity among researchers. The emergence of such interest is caused by the potential reduction in cost and shortage of number of workers and labors. Two industries will benefit from the advancements of these types of systems: agriculture and cargo. By using the unmanned tractor–trailer system, harvesting and cultivating plants will become a safe and easy task. It will also cause a reduction in cost which in turn reduces the price on the end consumers. On the other hand, by using the unmanned tractor–trailer system in the cargo industry, shipping cost and time for the item delivery will be reduced. The work presented in this paper focuses on the development of a path tracking and a cascaded controller to control a tractor–trailer in reverse motion. The path tracking controller utilizes the Frenet–Serret frame to control the kinematics of the tractor–trailer system on a desired path, while the cascade controller’s main objective is to stabilize the system and to perform commands issued by the path tracker. The controlled parameters in this proposed design are the lateral distance to a path, trailer’s heading angel, articulated angel, and articulated angle’s rate. The main goal of such controller is to follow a path while the tractor–trailer system is moving in reverse and controlling the stability of the articulated vehicle to prevent the occurrence of a jackknife incident (uncontrolled state). The proposed controller has been tested in a different scenario where a successful implementation has been shown.

A novel path tracking approach considering safety of the intended functionality for autonomous vehicles

2021 ◽  
pp. 095440702110205
Author(s):  
Huiran Wang ◽  
Qidong Wang ◽  
Wuwei Chen ◽  
Linfeng Zhao ◽  
Dongkui Tan
Keyword(s):  
Autonomous Vehicles ◽  
Autonomous Vehicle ◽  
Coordinated Control ◽  
Steering System ◽  
Front Wheel ◽  
Path Tracking ◽  
Hierarchical Architecture ◽  
Automatic Steering ◽  
The Stability ◽  
Control Layer

To reduce the adverse effect of the functional insufficiency of the steering system on the accuracy of path tracking, a path tracking approach considering safety of the intended functionality is proposed by coordinating automatic steering and differential braking in this paper. The proposed method adopts a hierarchical architecture consisting of a coordinated control layer and an execution control layer. In coordinated control layer, an extension controller considering functional insufficiency of the steering system, tire force characteristics and vehicle driving stability is proposed to determine the weight coefficients of automatic steering and the differential braking, and a model predictive controller is designed to calculate the desired front wheel angle and additional yaw moment. In execution control layer, a H∞ steering angle controller considering external disturbances and parameter uncertainty is designed to track desired front wheel angle, and a braking force distribution module is used to determine the wheel cylinder pressure of the controlled wheels. Both simulation and experiment results show that the proposed method can overcome the functional insufficiency of the steering system and improve the accuracy of path tracking while maintaining the stability of the autonomous vehicle.

Unraveling Interlimb Interactions Underlying Bimanual Coordination

2005 ◽  
Vol 94 (5) ◽  
pp. 3112-3125 ◽  
Author(s):  
Arne Ridderikhoff ◽  
C. (Lieke) E. Peper ◽  
Peter J. Beek
Keyword(s):  
Bimanual Coordination ◽  
Feedforward Control ◽  
Emg Activity ◽  
Minor Role ◽  
Error Corrections ◽  
Flexion Extension ◽  
Contralateral Hand ◽  
Phase Coordination ◽  
The Stability ◽  
Passive Movements

Three sources of interlimb interactions have been postulated to underlie the stability characteristics of bimanual coordination but have never been evaluated in conjunction: integrated timing of feedforward control signals, phase entrainment by contralateral afference, and timing corrections based on the perceived error of relative phase. In this study, the relative contributions of these interactions were discerned through systematic comparisons of five tasks involving rhythmic flexion–extension movements about the wrist, performed bimanually (in-phase and antiphase coordination) or unimanually with or without comparable passive movements of the contralateral hand. The main findings were the following. 1) Contralateral passive movements during unimanual active movements induced phase entrainment to interlimb phasing of either 0° (in-phase) or 180° (antiphase). 2) Entrainment strength increased with the passive movements' amplitude, but was similar for in-phase and antiphase movements. 3) Coordination of unimanual active movements with passive movements of the contralateral hand (kinesthetic tracking) was characterized by similar bilateral EMG activity as observed in active bimanual coordination. 4) During kinesthetic tracking the timing of the movements of the active hand was modulated by afference-based error corrections, which were more pronounced during in-phase coordination. 5) Indications of in-phase coordination being more stable than antiphase coordination were most prominent during active bimanual coordination and marginal during kinesthetic tracking. Together the results indicated that phase entrainment by contralateral afference contributed equally to the stability of in-phase and antiphase coordination, and that differential stability of these patterns depended predominantly on integrated timing of feedforward signals, with only a minor role for afference-based error corrections.

A Novel Path Tracking Controller for Magnetic Guided AGVs

2021 ◽  
Author(s):  
Zhenghong Jiang ◽  
Yucheng Xu ◽  
Lei Sun
Keyword(s):  
Path Tracking ◽  
Tracking Controller
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