An Overall Control Strategy Based on Target Reaching for the Navigation of a Urban Electric Vehicle - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2013

An Overall Control Strategy Based on Target Reaching for the Navigation of a Urban Electric Vehicle

José Miguel Vilca Ventura
  • Fonction : Auteur
  • PersonId : 778313
  • IdRef : 193529866
Lounis Adouane
Y. Mezouar

Résumé

This paper deals with reactive and flexible human-like autonomous vehicle navigation. A human driver reactively guides his vehicle, performing a smooth trajectory within the roads limits until reaching the defined goal. To obtain a similar behavior with an unmanned ground vehicle (UGV), this paper proposes a flexible control law to drive a vehicle towards desired static or dynamic targets based on a novel definition of control variables and Lyapunov stability analysis. Moreover, a target assignment strategy, combined with an appropriate sigmoid function, that allow to perform smooth, flexible and safe vehicle navigation through successive waypoints is presented. The stability of the proposed control strategy is proved according to Lyapunov synthesis. Simulations and experiments are performed in different cases to demonstrate the reliability and efficiency of the control strategy.
Fichier principal
Vignette du fichier
2013_VLCA_IROS.pdf (8.6 Mo) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-01714846 , version 1 (23-02-2018)

Identifiants

  • HAL Id : hal-01714846 , version 1

Citer

José Miguel Vilca Ventura, Lounis Adouane, Y. Mezouar, Pierre Lébraly. An Overall Control Strategy Based on Target Reaching for the Navigation of a Urban Electric Vehicle. EEE/RSJ, IROS'13, International Conference on Intelligent Robots and Systems, Nov 2013, Tokyo, Japan. ⟨hal-01714846⟩
116 Consultations
38 Téléchargements

Partager

Gmail Facebook X LinkedIn More