Dynamic Modeling and Bio-Inspired LQR Approach for Off-Road Robotic Vehicle Path Tracking

Author(s)

Cordeiro, Rafael A. ; Azinheira, Jose R. ; de Paiva, Ely C. ; Bueno, Samuel S. ; IEEE

• Document type: Journal article
• Source: 2013 16TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS (ICAR); v. N/A, p. 6-pg., 2013-01-01.

Abstract

Ground robotic vehicles have received special research attention in recent years. Application scenarios range from advanced driver assistance systems (ADAS) in urban vehicles up to autonomous navigation strategies on field environments. This work focuses on common subjects for these applications: Dynamic modeling and path tracking control of off-road robotic vehicles. Firstly, a nonlinear 3D dynamic model of a four wheels vehicle was conceived and used to simulate the vehicle motion behavior. An LQR path tracking controller was obtained from a linearized 2D vehicle model. Finally, a bio-inspired reference shaping approach is introduced to enhance the lateral tracking performance. The overall methodology and simulation results are presented. (AU)

• FAPESP's process: 11/22964-6 - Synthesis of linear and nonlinear controllers for an outdoor ground vehicle
• Grantee: Rafael de Angelis Cordeiro
• Support Opportunities: Scholarships abroad - Research Internship - Master's degree
• FAPESP's process: 10/14295-4 - Modelling and Control of an Outdoor Robotic Vehicle
• Grantee: Rafael de Angelis Cordeiro
• Support Opportunities: Scholarships in Brazil - Master
• FAPESP's process: 08/57870-9 - Critical Embedded Systems Institute
• Grantee: Jose Carlos Maldonado
• Support Opportunities: Research Projects - Thematic Grants