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Experimental Validation of Geometric Path Following Control with Demand Supervision on an Over-Actuated Robotic Vehicle

Ritzer, Peter and Winter, Christoph and Brembeck, Jonathan (2016) Experimental Validation of Geometric Path Following Control with Demand Supervision on an Over-Actuated Robotic Vehicle. In: 2016 IEEE Intelligent Vehicles Symposium (IV), pp. 539-545. Intelligent Vehicles Symposium, 19.-22. Jun. 2016, Göteborg, Schweden.

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Abstract

This work describes the development and experimental validation of a geometric path following control strategy with demand supervision applied to an over-actuated robotic vehicle, the ROboMObil. The proposed method enables the ROboMObil to automatically follow paths while the driver is free to control the velocity along the path. Beside the longitudinal degree of freedom, two lateral degrees of freedom can be controlled relative to the path. If this demand interface were provided without supervision, the driver may potentially overwrite the path following control in a manner such that the vehicle limits are violated and the vehicle becomes unstable. To avoid such critical situations a demand supervisor is introduced into the path following framework. The work concludes by a simulative demonstration of the supervised control system and an experimental validation of the presented approach implemented in the ROboMObil.

Item URL in elib:https://elib.dlr.de/105041/
Document Type:Conference or Workshop Item (Poster)
Title:Experimental Validation of Geometric Path Following Control with Demand Supervision on an Over-Actuated Robotic Vehicle
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Ritzer, Peterpeter.ritzer (at) dlr.deUNSPECIFIED
Winter, ChristophChristoph.Winter (at) DLR.deUNSPECIFIED
Brembeck, Jonathanjonathan.brembeck (at) dlr.deUNSPECIFIED
Date:June 2016
Journal or Publication Title:2016 IEEE Intelligent Vehicles Symposium (IV)
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Page Range:pp. 539-545
Status:Published
Keywords:Vehicle Control; Intelligent Ground Vehicles; Advanced Driver Assistance Systems; Path Following Control; Demand Supervisor
Event Title:Intelligent Vehicles Symposium
Event Location:Göteborg, Schweden
Event Type:international Conference
Event Dates:19.-22. Jun. 2016
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Intelligente Mobilität
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control > Vehicle System Dynamics
Deposited By: Winter, Christoph
Deposited On:09 Aug 2016 13:19
Last Modified:31 Jul 2019 20:02

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