This paper addresses the generation of an optimal constrained trajectory for lane merging tasks. The developed algorithm ensure a safe and a less fuel consumption for autonomous driving. The security is established with the restriction of both the lateral and the longitudinal AGV’s position inside a safe zone while accomplishing a lane change to overtake an obstacle or to follow a lead vehicle. However the path’s optimality is carried out by minimizing the lateral and the longitudinal cost functions. The generated trajectory is then tracked accurately with an adaptive computed torque controller. The whole approach is then validated with numerical simulations.
Optimal Lane Merging for AGV
Studies in Systems, Decision and Control
2020-02-12
20 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
Automated guided vehicle (AGV) , Longitudinal control , Lateral control , Adaptive computed torque , Lane merging Engineering , Robotics and Automation , Control and Systems Theory , Vibration, Dynamical Systems, Control , Mathematical and Computational Engineering , Complex Systems , Mathematics of Algorithmic Complexity