http://iet.metastore.ingenta.com
1887

Integrated trajectory planning and control for obstacle avoidance manoeuvre using non-linear vehicle MP algorithm

Integrated trajectory planning and control for obstacle avoidance manoeuvre using non-linear vehicle MP algorithm

For access to this article, please select a purchase option:

Buy eFirst article PDF
£12.50
(plus tax if applicable)
Buy Knowledge Pack
10 articles for £75.00
(plus taxes if applicable)

IET members benefit from discounts to all IET publications and free access to E&T Magazine. If you are an IET member, log in to your account and the discounts will automatically be applied.

Learn more about IET membership 

Recommend Title Publication to library

You must fill out fields marked with: *

Librarian details
Name:*
Email:*
Your details
Name:*
Email:*
Department:*
Why are you recommending this title?
Select reason:
 
 
 
 
 
IET Intelligent Transport Systems — Recommend this title to your library

Thank you

Your recommendation has been sent to your librarian.

In the current literature, model-predictive (MP) algorithm is widely applied in autonomous vehicle trajectory planning and control but most of the current studies only apply the linear tyre model, which cannot accurately present the tyre non-linear characteristic. Furthermore, most of these studies separately consider the trajectory planning and trajectory control of the autonomous vehicle and few of them have integrated the trajectory planning and trajectory control together. To fill in above research gaps, this study proposes the integrated trajectory planning and trajectory control method using a non-linear vehicle MP algorithm. To fully utilise the advantages of four-wheel-independent-steering and four-wheel-independent-driving vehicle, the MP algorithm is proposed based on four-wheel dynamics model and non-linear Dugoff tyre model. This study also proposes the mathematical modelling of the static obstacle and dynamic obstacle for the obstacle avoidance manoeuvre of the autonomous vehicle. Finally, simulation results have been presented to show the effectiveness of the proposed control method.

http://iet.metastore.ingenta.com/content/journals/10.1049/iet-its.2018.5002
Loading

Related content

content/journals/10.1049/iet-its.2018.5002
pub_keyword,iet_inspecKeyword,pub_concept
6
6
Loading
This is a required field
Please enter a valid email address