Please use this identifier to cite or link to this item:
https://hdl.handle.net/10216/91459
Author(s): | R. de Castro M. Tanelli R. Esteves Araújo S. M. Savaresi |
Title: | Minimum-time path following in highly redundant electric vehicles |
Issue Date: | 2014 |
Abstract: | Autonomous vehicles are becoming a reality that in the next future will most probably start populating everyday roads. Such vehicles can, on the one hand, increase safety through automated driving, and, on the other, be a means of transportation also for people with disabilities who cannot move alone on commercial cars. Within this class of vehicles, mechanical layouts that allow an actuator redundancy coupled with electric propulsion appear particularly interesting, as they make it possible to design motion controller that can optimally blend multiple objectives, both dynamic, safety and driver-oriented. This paper considers such setting and concentrates on the design of a path-following algorithm with minimum-time features, with the aim of combining performance and energy-oriented optimization of the vehicle motion. The effectiveness of the approach is assessed by means of simulation tests carried out on the CarSim vehicle simulation environment. |
Subject: | Engenharia electrotécnica, Engenharia electrotécnica, electrónica e informática Electrical engineering, Electrical engineering, Electronic engineering, Information engineering |
Scientific areas: | Ciências da engenharia e tecnologias::Engenharia electrotécnica, electrónica e informática Engineering and technology::Electrical engineering, Electronic engineering, Information engineering |
URI: | https://hdl.handle.net/10216/91459 |
Source: | IFAC Proceedings Volumes (IFAC-PapersOnline) |
Document Type: | Artigo em Livro de Atas de Conferência Internacional |
Rights: | restrictedAccess |
Appears in Collections: | FEUP - Artigo em Livro de Atas de Conferência Internacional |
Files in This Item:
File | Description | Size | Format | |
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106197.pdf Restricted Access | 1.56 MB | Adobe PDF | Request a copy from the Author(s) |
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