Path Planning With Obstacle Avoidance and Sliding Mode Control for An Articulated Vehicle.
2014 (English)Conference paper, Presentation (Refereed)
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
Research subject Control Engineering
IdentifiersURN: urn:nbn:se:ltu:diva-39864Local ID: ec660384-856b-4805-ad27-266f1a4bd59fOAI: oai:DiVA.org:ltu-39864DiVA: diva2:1013383
Reglermöte 2014 : 03/06/2014 - 04/06/2014
Godkänd; 2014; 20150402 (thanay)2016-10-032016-10-032017-01-19Bibliographically approved