Accurate autonomous navigation strategy dedicated to the storage of buses in a bus center - CEA - Commissariat à l’énergie atomique et aux énergies alternatives Access content directly
Journal Articles Robotics and Autonomous Systems Year : 2021

Accurate autonomous navigation strategy dedicated to the storage of buses in a bus center

Abstract

This paper deals with an innovative autonomous bus navigation and parking system in a bus depot, in order to optimize their movements in a confined area. The kinematic model of the vehicle is defined. Considering its dimensions and weight as well as the centimetric accuracy required, a predictive controller is designed, based on its model linearized around the changing path curvature value, to perform accurate curved paths tracking with a limited tracking error guaranteed by the consideration of a constraint. This controller and additional sliding observers are designed according to the distance traveled, allowing maneuvers to be performed at any forward or backward speed with constant accuracy. In addition, these observers are not affected by path tracking errors. The implementation on an industrial vehicle, operated under realistic conditions, demonstrates the performance and robustness of this navigation system.
Fichier principal
Vignette du fichier
2020_RAS_lucet_micaelli_russotto_autonomous_buses_storage.pdf (1.54 Mo) Télécharger le fichier
Origin : Files produced by the author(s)

Dates and versions

cea-03314561 , version 1 (05-08-2021)

Identifiers

Cite

Eric Lucet, Alain Micaelli, François-Xavier Russotto. Accurate autonomous navigation strategy dedicated to the storage of buses in a bus center. Robotics and Autonomous Systems, 2021, 136, pp.103706. ⟨10.1016/j.robot.2020.103706⟩. ⟨cea-03314561⟩
41 View
50 Download

Altmetric

Share

Gmail Facebook X LinkedIn More