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Email Address. Sign In. Access provided cating In this paper, we present an algorithm for Speed dating Sodertalje 2013 control of a vehicle-a smooth and accurate model predictive controller MPC. The fundamental difference compared to a standard MPC is that the driving smoothness is directly addressed in the cost function.
The controller objective is Speed dating Sodertalje 2013 on the minimization of the first- and second-order spatial derivatives of the curvature.
By doing so, jerky commands to the steering wheel, which could lead to permanent damage on the steering components and vehicle structure, are avoided.
A good path tracking accuracy is ensured by adding constraints to avoid deviations from the reference path. Finally, the controller is experimentally tested and evaluated on a Scania construction truck.
Even using a linearized kinematic vehicle to Speed dating Sodertalje 2013 20133 vehicle motion, the performance of the proposed controller is encouraging, since the deviation from the path never exceeds 30 cm. It clearly outperforms an industrial pure-pursuit controller in terms of path accuracy and a standard MPC in terms of driving Nigerian escorts in Falun. Published in: Date of Publication: Persistent Link: Need Help?
By doing so, jerky commands to the steering wheel, which could lead to permanent damage on the steering components and vehicle structure, are avoided. Skip to Main Content.
Extending EA It clearly outperforms 20113 industrial pure-pursuit controller Massage sex Gavle terms of path accuracy and a standard MPC in S;eed of driving smoothness.
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