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Advanced Path Following Control of an Overactuated Robotic Vehicle

Ritzer, Peter and Winter, Christoph and Brembeck, Jonathan (2015) Advanced Path Following Control of an Overactuated Robotic Vehicle. In: IEEE Intelligent Vehicles Symposium, pp. 1120-1125. 2015 IEEE Intelligent Vehicles Symposium, 28. Jun. - 01. Jul. 2015, Seoul, Korea. doi: 10.1109/IVS.2015.7225834.

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Official URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7225834


This work describes an advanced path following control strategy enabling overactuated robotic vehicles like the ROboMObil (ROMO) [1] to automatically follow predefined paths while all states of the vehicle's planar motion are controlled. This strategy is useful for autonomous vehicles which are guided along online generated paths including severe driving maneuvers caused by e.g. obstacle avoidance. The proposed approach combines path following, i.e. tracking a plane curve without a priori time parameterization of a trajectory, with feedback based vehicle dynamics stabilization. A path interpolation method is introduced which allows to perform the path following task employing a trajectory tracking controller. Furthermore a tracking controller based on I/O linearization and quadratic programming based control allocation is proposed which allows employing the vehicle's overactuation in an optimal manner. The work concludes by a simulative evaluation of the controller performance.

Item URL in elib:https://elib.dlr.de/97169/
Document Type:Conference or Workshop Item (Poster)
Title:Advanced Path Following Control of an Overactuated Robotic Vehicle
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Ritzer, Peterpeter.ritzer (at) dlr.deUNSPECIFIED
Winter, ChristophChristoph.Winter (at) DLR.deUNSPECIFIED
Brembeck, Jonathanjonathan.brembeck (at) dlr.deUNSPECIFIED
Date:1 July 2015
Journal or Publication Title:IEEE Intelligent Vehicles Symposium
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
DOI :10.1109/IVS.2015.7225834
Page Range:pp. 1120-1125
Keywords:collision avoidance;feedback;interpolation;linearisation techniques;mobile robots;motion control;optimal control;quadratic programming;stability;trajectory control;vehicle dynamics;I/O linearization;ROMO;ROboMObil;advanced path following control strategy;automatically predefined path following;autonomous vehicle;controller performance evaluation;feedback based vehicle dynamics stabilization;obstacle avoidance;online generated path;overactuated robotic vehicle;path interpolation method;plane curve tracking;quadratic programming based control allocation;severe driving maneuver;trajectory tracking controller;vehicle overactuation;vehicle planar motion control;Actuators;Interpolation;Mathematical model;Trajectory;Vehicle dynamics;Vehicles;Wheels
Event Title:2015 IEEE Intelligent Vehicles Symposium
Event Location:Seoul, Korea
Event Type:international Conference
Event Dates:28. Jun. - 01. Jul. 2015
Organizer:IEEE Intelligent Transportation Systems Society
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Vorhaben Intelligente Mobilität (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control > Vehicle System Dynamics
Deposited By: Ritzer, Peter
Deposited On:09 Nov 2015 09:49
Last Modified:31 Jul 2019 19:53

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