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An Overall Control Strategy Based on Target Reaching for the Navigation of a Urban Electric Vehicle

Abstract : This paper deals with reactive and flexible human-like autonomous vehicle navigation. A human driver reactively guides his vehicle, performing a smooth trajectory within the roads limits until reaching the defined goal. To obtain a similar behavior with an unmanned ground vehicle (UGV), this paper proposes a flexible control law to drive a vehicle towards desired static or dynamic targets based on a novel definition of control variables and Lyapunov stability analysis. Moreover, a target assignment strategy, combined with an appropriate sigmoid function, that allow to perform smooth, flexible and safe vehicle navigation through successive waypoints is presented. The stability of the proposed control strategy is proved according to Lyapunov synthesis. Simulations and experiments are performed in different cases to demonstrate the reliability and efficiency of the control strategy.
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https://hal.archives-ouvertes.fr/hal-01714846
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Submitted on : Friday, February 23, 2018 - 1:07:06 AM
Last modification on : Wednesday, October 31, 2018 - 5:42:02 PM
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  • HAL Id : hal-01714846, version 1

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José Miguel Vilca Ventura, Lounis Adouane, Y. Mezouar, Pierre Lébraly. An Overall Control Strategy Based on Target Reaching for the Navigation of a Urban Electric Vehicle. EEE/RSJ, IROS'13, International Conference on Intelligent Robots and Systems, Nov 2013, Tokyo, Japan. ⟨hal-01714846⟩

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