Experimental evaluation of economic model predictive control for an autonomous truck
2016 (English)In: IEEE Intelligent Vehicles Symposium, Proceedings, Institute of Electrical and Electronics Engineers (IEEE), 2016, 710-715 p.Conference paper (Refereed)
In this paper, we propose a controller for smooth autonomous path following. The controller is formulated as an economic model predictive controller. The economic cost introduced in the objective function leads to a smooth driving, since we minimize the first and second derivatives of the curvature function (i.e., we encourage linear curvature profiles). Since the curvature in clothoids varies linearly with the path arc-length, we use the smoothness and comfort characteristics of clothoid-driving to obtain a compact and intuitive controller formulation. We enforce convergence of the controller to the reference path with soft constraints that avoid deviations from the reference path. Finally, we present real life experiments where the controller is deployed on a Scania construction truck that show that the proposed controller outperforms a pure-pursuit controller. Moreover, we detail how the few tuning parameters can affect the obtained solution in practice.
Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2016. 710-715 p.
IdentifiersURN: urn:nbn:se:kth:diva-194986DOI: 10.1109/IVS.2016.7535465ScopusID: 2-s2.0-84983341615ISBN: 9781509018215OAI: oai:DiVA.org:kth-194986DiVA: diva2:1044379
2016 IEEE Intelligent Vehicles Symposium, IV 2016, 19 June 2016 through 22 June 2016
QC 201611032016-11-032016-11-012016-11-03Bibliographically approved