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Document type:
Zeitschriftenartikel / Journal Article
Title:
A dynamic programming MPC approach for automatic driving along tracks and its realization with online steering controllers
Title of conference publication:
20th IFAC World Congress
Journal:
IFAC-PapersOnLine
Volume:
50
Issue:
1
Organizer (entity):
International Federation of Automatic Control
Conference title:
International Federation of Automatic Control World Congress (20., 2017, Toulouse)
Venue:
Toulouse
Year of conference:
2017
Date of conference beginning:
09.07.2017
Date of conference ending:
14.07.2017
Publishing institution:
ScienceDirect
Publisher:
Elsevier Ltd
Year:
2017
Pages from - to:
8686-8691
Language:
Englisch
Subject:
optimal control ; dynamic programming ; steering controller ; RC car ; iGPS
Abstract:
The paper is concerned with the computation of trajectories along a given track for automatic cars using a dynamic programming approach in combination with a model predictive control strategy, which leads to a feedback control law providing a local reference trajectory In addition, the setup of a testing environment using scale RC cars is described, which allows to verify and test control strategies in realtime. Results of experiments are presented that show the ability of the online controllers... »
Department:
Fakultät für Luft- und Raumfahrttechnik
Institute:
LRT 1 - Institut für Mathematik und Rechneranwendung
Chair:
Gerdts, Matthias
Open Access yes or no?:
Ja / Yes
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