A Fast Trajectory Tracking Control Design for Autonomous Driving
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27240%2F19%3A10246692" target="_blank" >RIV/61989100:27240/19:10246692 - isvavai.cz</a>
Result on the web
<a href="https://ieeexplore.ieee.org/document/9071867" target="_blank" >https://ieeexplore.ieee.org/document/9071867</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ICRoM48714.2019.9071867" target="_blank" >10.1109/ICRoM48714.2019.9071867</a>
Alternative languages
Result language
angličtina
Original language name
A Fast Trajectory Tracking Control Design for Autonomous Driving
Original language description
This paper presents a fast trajectory tracking control strategy based on the Linear-Quadratic Regulator (LQR) and Receding Horizon Control (RHC) for real-time autonomous driving. A path deviation parameter is introduced and integrated into the LQR. This parameter can play a role in controlling the vehicle to avoid collisions or change the motion lane. Under the framework of RHC, the LQR must be solved online repeatedly. The computational complexity of the closed-form solution to the LQR was the motivation behind obtaining a computationally fast approximate solution aiming to make the RHC fast and real-time. Simulation experiments where a vehicle tracks a curvilinear trajectory in a two-lane road are carried out to illustrate the performance of the presented fast LQR RHC controller. (C) 2019 IEEE.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Result continuities
Project
<a href="/en/project/EF16_027%2F0008463" target="_blank" >EF16_027/0008463: Science without borders</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2019
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
ICRoM 2019 - 7th International Conference on Robotics and Mechatronics
ISBN
978-1-72816-604-9
ISSN
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e-ISSN
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Number of pages
6
Pages from-to
1-6
Publisher name
IEEE
Place of publication
Piscataway
Event location
Teherán
Event date
Nov 20, 2019
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000570118000001