Flow-field guided steering control for rigid autonomous ground vehicles in low-speed manoeuvring

Song, Mengxuan and Wang, Nan and Gordon, Timothy and Wang, Jun (2018) Flow-field guided steering control for rigid autonomous ground vehicles in low-speed manoeuvring. Vehicle System Dynamics . pp. 1-18. ISSN 0042-3114

Full content URL: http://doi.org/10.1080/00423114.2018.1512715

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Flow-field guided steering control for rigid autonomous ground vehicles in low-speed manoeuvring

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Abstract

This paper studies the low-speed manoeuvring problem for autono-mous ground vehicles operating in complex static environments. Making use of the intrinsic property of a fluid to naturally find its way to an outflow destination, a novel guidance method is proposed. In this approach, a reference flow field is calculated numerically through Computational Fluid Dynamics, based on which both the reference path topology and the steering reference to achieve the path are derived in a single process. Steering control considers three constraints: obstacle and boundary avoidance, rigidity of the vehicle, plus the non-holonomic velocity constraints due to the steering system. The influences of the parameters used during the flow field simulation and the control algorithm are discussed through numerical cases. A divergency field is defined to evaluate the quality of the flow field in guiding the vehicle. This is used to identify any problematic branching features of the flow, and control is adapted in the neighbourhood of such branching features to resolve possible ambiguities in the control reference. Results demonstrate the effectiveness of the method in finding smooth and feasible motion paths, even in complex environments

Additional Information:The final published version of this article can be accessed online at https://www.tandfonline.com/doi/full/10.1080/00423114.2018.1512715
Keywords:vehicle control, autonomous vehicles, guidance, computational fluid dynamics
Subjects:H Engineering > H660 Control Systems
H Engineering > H300 Mechanical Engineering
H Engineering > H330 Automotive Engineering
Divisions:College of Science > School of Engineering
ID Code:33146
Deposited On:10 Sep 2018 13:11

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