نوع مقاله : مقاله پژوهشی
نویسندگان
1 گروه دینامیک، کنترل و ارتعاشات، دانشکده مهندسی مکانیک، دانشگاه گیلان، استان گیلان، ایران
2 دانشکده مهندسی مکانیک، دانشگاه آزاد اسلامی واحد ایذه، ایذه، ایران
چکیده
کلیدواژه‌ها
موضوعات
عنوان مقاله [English]
نویسندگان [English]
This paper studies the autonomous vehicle leader following and collision avoidance problem. In this paper, like as a real car, geometric dimensions, mass and moment of inertia are considered for the car; steering-wheel and driving-wheel torques are the two control inputs. The nonlinear dynamics equation of the vehicle is derived. At first, an algorithm is proposed for changing the direction of the vehicle to follow the leader, then the suitable path for multiple obstacle avoidance and leader following is proposed, and then a nonlinear model predictive controller (MPC) is used to follow the reference trajectory. The desired trajectory is designed according to the elastic band method which is a powerful method for obstacle avoidance and leader following. The performances of the closed-loop system are illustrated through simulations. During the simulation the vehicle first changes its direction and then follows the leader without colliding with obstacles. Although the vehicle is inertial and non-holonomic in behavior, the simulations show that the two path planning methods with MPC scheme works well. For the future works the authors aim to solve the problem with moving obstacles.
کلیدواژه‌ها [English]
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