n this study, the authors consider the problem of collision avoidance of ground vehicles. In this framework, they focus on a single vehicle, and they guarantee that a given safe set is not exited during a mission. More specifically, they consider the yaw-lateral motion of a two-wheel vehicle subject to a side wind, and they design a state-feedback controller such that the vehicle follows the nominal trajectory with a given maximum error. For these purposes, they resort to a control system where a supervisor, implemented as a hybrid automata, decides to switch between two controllers, depending on the measured vehicle lateral displacement from the nominal trajectory. The two controllers are designed using an ℋ∞ approach and the input–output finite-time stability approach, respectively. Some simulation results are included, showing the effectiveness of the proposed architecture.

A hybrid architecture for vehicle lateral collision avoidance

Ariola, Marco;De Tommasi, Gianmaria;Amato, Francesco
2018

Abstract

n this study, the authors consider the problem of collision avoidance of ground vehicles. In this framework, they focus on a single vehicle, and they guarantee that a given safe set is not exited during a mission. More specifically, they consider the yaw-lateral motion of a two-wheel vehicle subject to a side wind, and they design a state-feedback controller such that the vehicle follows the nominal trajectory with a given maximum error. For these purposes, they resort to a control system where a supervisor, implemented as a hybrid automata, decides to switch between two controllers, depending on the measured vehicle lateral displacement from the nominal trajectory. The two controllers are designed using an ℋ∞ approach and the input–output finite-time stability approach, respectively. Some simulation results are included, showing the effectiveness of the proposed architecture.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11588/717938
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