Relative navigation control of articulated vehicle based on LTV-MPC Online publication date: Wed, 21-Apr-2021
by Guoxing Bai; Yu Meng; Qing Gu; Weidong Luo; Li Liu
International Journal of Heavy Vehicle Systems (IJHVS), Vol. 28, No. 1, 2021
Abstract: The automation of the articulated vehicle is an important trend of the intelligent transportation system in the mining industry. And the relative navigation is a key technology to automatic vehicles. One of the challenges in the relative navigation of the articulated vehicle is that the system constraints may cause the actuator saturation and other problems. In order to solve these problems, this paper presents a relative navigation control method based on linear time varying model predictive control (LTV-MPC). This control method can explicitly take the system constraints into account. The performance of the controller is verified by simulation and experiment. The results show that the articulated vehicle with the LTV-MPC controller can track the target heading direction, the steady-state error is less than 0.3 rad. The relative navigation controller based on LTV-MPC can be used to improve the automatic driving performance of the articulated vehicle.
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