Advanced path following control of an overactuated robotic vehicle

Ritzer, Peter; Winter, Christoph; Brembeck, Jonathan

doi:10.1109/ivs.2015.7225834

Cited by 15 publications

(35 citation statements)

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“…The employed demand representation is formulated as in [6] and repeated here for the sake of completeness. The motion demand ( ) of the geoPFC is a generalized path with respect to its arc length .…”

Section: A Demand Representationmentioning

confidence: 99%

“…Finally in [5] a time independent path following controller for a conventional car is discussed which expresses the controller dynamics in dependence of the planned path's arc length. This paper uses the experience learned from literature and the previous work in [6] to further develop the centralized control approach for the automatic driving of an overactuated robotic vehicle. While the work in [6] studies the feasibility of a time domain control approach combined with an optimization based control allocation (OCA), this work transfers the time independent approach of [5] to the overactuated ROboMObil case.…”

Section: Introductionmentioning

confidence: 99%

“…This paper uses the experience learned from literature and the previous work in [6] to further develop the centralized control approach for the automatic driving of an overactuated robotic vehicle. While the work in [6] studies the feasibility of a time domain control approach combined with an optimization based control allocation (OCA), this work transfers the time independent approach of [5] to the overactuated ROboMObil case. The main focus is to enable the experimental validation of the path following control and its application as shared autonomy demonstrator.…”

Section: Introductionmentioning

confidence: 99%

“…For this purpose, the path following controller (PFC) is redesigned as geometric PFC (geoPFC) approach to meet the reliability requirements and a demand supervisor is developed to enable a secure control of the vehicle in path following mode. The first step to ensure this requirement is a change in the controller architecture of [6]. Since the numerical stability of the optimization routine in the OCA is not guaranteed it is replaced by the well tested geometric control based allocation (GCA) method described in [7].…”

Section: Introductionmentioning

confidence: 99%

“…Furthermore, it is possible to extend the GCA as shown in [8] with closed loop control to compensate for excessive slip values. The interface of the GCA is different to that of the OCA such that a further adaption of the former path following algorithm of [6] is necessary. The details of this step are discussed in Section IV.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Experimental validation of geometric path following control with demand supervision on an over-actuated robotic vehicle

Ritzer¹,

Winter²,

Brembeck³

2016

2016 IEEE Intelligent Vehicles Symposium (IV)

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This work describes the development and experimental validation of a geometric path following control strategy with demand supervision applied to an over-actuated robotic vehicle, the ROboMObil [1]. The proposed method enables the ROboMObil to automatically follow paths while the driver is free to control the velocity along the path. Beside the longitudinal degree of freedom, two lateral degrees of freedom can be controlled relative to the path. If this demand interface were provided without supervision, the driver may potentially overwrite the path following control in a manner such that the vehicle limits are violated and the vehicle becomes unstable. To avoid such critical situations a demand supervisor is introduced into the path following framework. The work concludes by a simulative demonstration of the supervised control system and an experimental validation of the presented approach implemented in the ROboMObil.

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Section: A Demand Representationmentioning

confidence: 99%