Design And Simulation For Path Tracking Control Of A Commercial Vehicle Using Mpc

dc.creatorGarcia O.
dc.creatorFerreira J.V.
dc.creatorNeto A.M.
dc.date2015
dc.date2015-06-25T12:55:33Z
dc.date2015-11-26T15:19:01Z
dc.date2015-06-25T12:55:33Z
dc.date2015-11-26T15:19:01Z
dc.date.accessioned2018-03-28T22:28:34Z
dc.date.available2018-03-28T22:28:34Z
dc.identifier9781479967117
dc.identifierProceedings - 2nd Sbr Brazilian Robotics Symposium, 11th Lars Latin American Robotics Symposium And 6th Robocontrol Workshop On Applied Robotics And Automation, Sbr Lars Robocontrol 2014 - Part Of The Joint Conference On Robotics And Intelligent Systems, Jcris 2014. Institute Of Electrical And Electronics Engineers Inc., v. , n. , p. 61 - 66, 2015.
dc.identifier
dc.identifier10.1109/SBR.LARS.Robocontrol.2014.23
dc.identifierhttp://www.scopus.com/inward/record.url?eid=2-s2.0-84923809956&partnerID=40&md5=481fc0b73921f69ee65fdd6261e3ff4e
dc.identifierhttp://www.repositorio.unicamp.br/handle/REPOSIP/85613
dc.identifierhttp://repositorio.unicamp.br/jspui/handle/REPOSIP/85613
dc.identifier2-s2.0-84923809956
dc.identifier.urihttp://repositorioslatinoamericanos.uchile.cl/handle/2250/1259654
dc.descriptionThe design of the robotic vehicle VILMA at UNICAMP is developed in-vehicle platform Fiat Punto. In addition to a set of sensors, actuators, mechanism and components (hardware and/or software), new technologies should be developed in support of Automation, Control, Perception, Localization and Navigation. This work presents the design and simulation of path tracking control using model predictive control (MPC) which attempts to exploit the characteristics of the structured environment where the future path is previously known. The model for design the controller is based in a single tracking model of the vehicle and in a model of the steering which the state variables are observed by the Extended Kalman Filter (EKF). Finally, it is explained how the path is smoothed generating an arc between the points and making an optimization process by the gradient algorithm.
dc.description
dc.description
dc.description61
dc.description66
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dc.languageen
dc.publisherInstitute of Electrical and Electronics Engineers Inc.
dc.relationProceedings - 2nd SBR Brazilian Robotics Symposium, 11th LARS Latin American Robotics Symposium and 6th Robocontrol Workshop on Applied Robotics and Automation, SBR LARS Robocontrol 2014 - Part of the Joint Conference on Robotics and Intelligent Systems, JCRIS 2014
dc.rightsfechado
dc.sourceScopus
dc.titleDesign And Simulation For Path Tracking Control Of A Commercial Vehicle Using Mpc
dc.typeActas de congresos


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