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Planning and Nonlinear Adaptive Control for an Automated Overtaking Maneuver
Abstract : In this paper, we present a nonlinear adaptive controller for a two-vehicle automated overtaking maneuver. We consider the problem of a three-phase overtaking without the use of information obtained from road infrastructure. The only information available for feedback control is the current relative inter-vehicle position and orientation. Reference trajectories for every phase are generated in real time. An update control law for the automated overtaking vehicle is designed that allows tracking desired trajectories in the presence of unknown velocity of the overtaken vehicle. Simulation results are included to illustrate the performance of the proposed controller.
Cited literature [10 references]
https://hal.inria.fr/hal-00663044
Contributor : Fawzi Nashashibi Connect in order to contact the contributor
Submitted on : Thursday, January 26, 2012 - 12:12:03 PM
Last modification on : Thursday, February 11, 2021 - 2:58:06 PM
Long-term archiving on: : Friday, April 27, 2012 - 2:25:59 AM
Contributor : Fawzi Nashashibi Connect in order to contact the contributor
Submitted on : Thursday, January 26, 2012 - 12:12:03 PM
Last modification on : Thursday, February 11, 2021 - 2:58:06 PM
Long-term archiving on: : Friday, April 27, 2012 - 2:25:59 AM
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