Leader Following and Multiple Obstacle Avoidance of Autonomous Vehicle with Steering-Wheel and Driving-Wheel Torques Using Path Planning and Model Predictive Control

Document Type : Research Article

Authors

1 Assistant Professor, Faculty of Mechanical Engineering, University of Guilan

2 Department of Mechanical Engineering, Islamic Azad University of Izeh, Izeh, Iran

Abstract

This paper studies the autonomous vehicle leader following and collision avoidance problem. In this paper, like as a real vehicle, geometric dimensions, mass, and moment of inertia are considered for the vehicle; 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 work well. For future works, the authors aim to solve the problem with moving obstacles.

Keywords

Main Subjects

References

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Amirkabir Journal of Mechanical Engineering
Volume 55, Issue 12
March 2024
Pages 1465-1482

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