Model Predictive Control Based Path Tracking and Velocity Control with Rollover Prevention Function for Autonomous Electric Road Sweeper

Yonghwan Jeong, Wongun Kim and Seongjin Yim
Additional contact information
Yonghwan Jeong: Department of Mechanical and Automotive Engineering, Seoul National University of Science and Technology, 232 Gongneung-ro, Nowon-gu, Seoul 01811, Korea
Wongun Kim: Korea Institute of Industrial Technologies, Seobuk-gu, Cheonan-si 31056, Korea
Seongjin Yim: Department of Mechanical and Automotive Engineering, Seoul National University of Science and Technology, 232 Gongneung-ro, Nowon-gu, Seoul 01811, Korea

Energies, 2022, vol. 15, issue 3, 1-19

Abstract: This paper presents a model predictive control (MPC)-based algorithm for rollover prevention of an autonomous electric road sweeper (AERS). For AERS, the basic function of autonomous driving is a path- and velocity-tracking control needed to make a vehicle follow given path and velocity profiles. On the other, the AERS adopts an articulated frame steering (AFS) mechanism which can make cornering behavior agile. Moreover, the tread of the AERS is narrow, and the height of the mass center is high. As a result, it is prone to roll over. For this reason, it is necessary to design a controller for path and velocity tracking and rollover prevention in order to improve maneuverability and roll safety of the AERS. A kinematic model was adopted as a vehicle one for the AERS. With the vehicle model, reference states of position and velocity were determined that are needed to make the AERS track the reference path and prevent rollover. With the vehicle model and reference states, an MPC-based motion controller was designed to optimize articulation angle and velocity commands. The load-transfer ratio (LTR) was used to measure a rollover propensity. To evaluate the proposed algorithm, a simulation was conducted for the U-turn scenario. Simulation results show that the proposed algorithm improves path tracking and prevents the rollover of the AERS.

Keywords: autonomous electric road sweeper; path-tracking control; velocity-tracking control; rollover prevention; model predictive control (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2022
References: View references in EconPapers View complete reference list from CitEc
Citations:

Downloads: (external link)
https://www.mdpi.com/1996-1073/15/3/984/pdf (application/pdf)
https://www.mdpi.com/1996-1073/15/3/984/ (text/html)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:gam:jeners:v:15:y:2022:i:3:p:984-:d:737156

Access Statistics for this article

Energies is currently edited by Ms. Agatha Cao

More articles in Energies from MDPI
Bibliographic data for series maintained by MDPI Indexing Manager ().