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Path Planning With Obstacle Avoidance and Sliding Mode Control for An Articulated Vehicle.
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0003-0126-1897
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0002-0079-9049
2014 (English)Conference paper, Presentation (Refereed)
Abstract [en]

A dynamic obstacle avoidance technique and control strategy to derive an articulated vehicle has been proposed. The strategy consists of two elements: a path planning and controller scheme to make the vehicle track a reference path. Potential field algorithm is exploited to generate a free collision on-line reference path in dynamic environments. The potential field is modified, by considering the nonlinear kinematic model, of the articulated vehicle. The proposed sliding mode controller is capable of making the vehicle move in minimum error displacement.

Place, publisher, year, edition, pages
2014.
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
URN: urn:nbn:se:ltu:diva-39864Local ID: ec660384-856b-4805-ad27-266f1a4bd59fOAI: oai:DiVA.org:ltu-39864DiVA: diva2:1013383
Conference
Reglermöte 2014 : 03/06/2014 - 04/06/2014
Note
Godkänd; 2014; 20150402 (thanay)Available from: 2016-10-03 Created: 2016-10-03 Last updated: 2017-09-15Bibliographically approved

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