Lukassek M, Dahlmann J, Völz A, Graichen K (2024)
Publication Type: Journal article
Publication year: 2024
Book Volume: 100
Pages Range: 103190
Article Number: 103190
DOI: 10.1016/j.mechatronics.2024.103190
This article presents an experimental validation of a model predictive path-following control algorithm (PF-MPC ) applied to a truck–trailer system, encompassing both forward and backward motions. The proposed controller is designed to precisely follow a predefined path generated by a path planner, with a designated guidance point positioned on either the truck or the trailer. The algorithm’s performance is assessed through implementation and validation on a model-scaled truck–trailer system, where MPC, state estimation, and low-level control are executed on a microcontroller (MCU ). The experimental results demonstrate the effectiveness of the proposed control approach in achieving highly accurate path-following performance, even when operating in the challenging context of unstable backward motion, and with the involvement of up to two trailers. Moreover, the successful implementation of the algorithm on a microcontroller underscores its suitability for real-time control applications. The results of this study collectively highlight the promising potential of the proposed control algorithm for practical utilization in autonomous driving systems.
APA:
Lukassek, M., Dahlmann, J., Völz, A., & Graichen, K. (2024). Model predictive path-following control for truck–trailer systems with specific guidance points - Design and experimental validation. Mechatronics, 100, 103190. https://doi.org/10.1016/j.mechatronics.2024.103190
MLA:
Lukassek, Markus, et al. "Model predictive path-following control for truck–trailer systems with specific guidance points - Design and experimental validation." Mechatronics 100 (2024): 103190.
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