Integrated trajectory planning and control for obstacle avoidance manoeuvre using nonlinear vehicle model-predictive algorithm

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dc.contributor.authorLi, Boyuan
dc.contributor.authorDu, Haiping
dc.contributor.authorLi, Weihua
dc.contributor.authorZhang, Bangji
dc.date.accessioned2019-03-21T20:08:30Z
dc.date.available2019-03-21T20:08:30Z
dc.date.issued2019-10-22
dc.description.abstractIn the current literature, model-predictive (MP) algorithm is widely applied in autonomous vehicle trajectory planning and control but most of the current studies only apply the linear tyre model, which cannot accurately present the tyre non-linear characteristic. Furthermore, most of these studies separately consider the trajectory planning and trajectory control of the autonomous vehicle and few of them have integrated the trajectory planning and trajectory control together. To fill in above research gaps, this study proposes the integrated trajectory planning and trajectory control method using a non-linear vehicle MP algorithm. To fully utilise the advantages of four-wheel-independent-steering and four-wheel-independent-driving vehicle, the MP algorithm is proposed based on four-wheel dynamics model and non-linear Dugoff tyre model. This study also proposes the mathematical modelling of the static obstacle and dynamic obstacle for the obstacle avoidance manoeuvre of the autonomous vehicle. Finally, simulation results have been presented to show the effectiveness of the proposed control method.en_UK
dc.identifier.citationLi B, Du H, Li W and Zhang B., Integrated trajectory planning and control for obstacle avoidance manoeuvre using nonlinear vehicle model-predictive algorithm, IET Intelligent Transport Systems, Volume 13, Issue 2, pp.385-397.en_UK
dc.identifier.issn1751-956X
dc.identifier.urihttps://doi.org/10.1049/iet-its.2018.5002
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/14003
dc.language.isoenen_UK
dc.publisherIETen_UK
dc.rightsAttribution-NonCommercial 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by-nc/4.0/*
dc.titleIntegrated trajectory planning and control for obstacle avoidance manoeuvre using nonlinear vehicle model-predictive algorithmen_UK
dc.typeArticleen_UK

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