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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

  • Czech description

Classification

  • Type

    D - Article in proceedings

  • CEP classification

  • 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

  • e-ISSN

  • 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